maliput_osm

Description

maliput_osm package is a Maliput backend implementation. Its underlying format specification is based on OSM-lanelet2 format. Allowing the users to load a road network out of a OSM file description.

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

Resources

maliput_osm provides several map resources at maliput_osm/resources/osm. These resources are:

• OSM files for describing different road networks using OSM-lanelet2 format specification.
• YAML files for describing maliput's road network information of type: Range Value Rules, Discrete Value Rules, Traffic Lights, Phase Rings, Intersections, etc.

Resources are installed natively, so the users are able to use them for their own interest. In order to get the installation path check the environment variable: MALIPUT_OSM_RESOURCE_ROOT.

API Documentation

Refer to Maliput osm'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_integration: Concentrates applications created for maliput. See maliput_integration's tutorials. These applications allow to select maliput_osm as the backend.

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_osm.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_osm

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

   colcon build --packages-select maliput_osm --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