maliput_sparse

Description

maliput_sparse is a convenient package that provides several helpers for creating a maliput backend that is expected to be built on top of waypoints without any analytical model of the surface.

By using the builder API, the mathematical model is solved under the hood so the user doesn't have to dive into complex geometric calculations.

Note: For full information about Maliput please visit Maliput Documentation.

API Documentation

Refer to Maliput sparse's Online API Documentation.

Examples

Getting Started page is a good place for starting to see Maliput's capabilities and how to use a Maliput backend for getting a road network.

• maliput_osm: This maliput backend works as example on how maliput_sparse can be used for easily creating a backend that is based on a format that uses waypoints for describing the roads.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS, ROS2 Foxy.

Binary Installation on Ubuntu

See Installation Docs.

Source Installation on Ubuntu

Prerequisites

sudo apt install python3-rosdep python3-colcon-common-extensions

Build

1. Create colcon workspace if you don't have one yet.

   mkdir colcon_ws/src -p

2. Clone this repository in the src folder

   cd colcon_ws/src
   git clone https://github.com/maliput/maliput_sparse.git

3. Install package dependencies via rosdep

   export ROS_DISTRO=foxy

   rosdep update
   rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src

4. Build the package

   colcon build --packages-up-to maliput_sparse

   Note: To build documentation a -BUILD_DOCS cmake flag is required:

   colcon build --packages-select maliput_sparse --cmake-args " -DBUILD_DOCS=On"

   More info at Building Documentation.

For further info refer to Source Installation on Ubuntu

For development

It is recommended to follow the guidelines for setting up a development workspace as described here.

Contributing

Please see CONTRIBUTING page.

License