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A C++ runtime API describing a Road Network model for use in agent and traffic simulations. It guarantees a continuous description of the road geometry and supports dynamic environments with varying rules states.

maliput 최신버젼 다운로드

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# Maliput

## Description

A C++ runtime API describing a Road Network model for use in agent and traffic simulations. It guarantees a continuous description of the road geometry and supports dynamic environments with varying rules states.

For a full overview of Maliput capabilities please visit https://maliput.readthedocs.io/en/latest/maliput_overview.html.

## API Documentation

Refer to [Maliput's Online API Documentation](https://maliput.readthedocs.io/en/latest/html/deps/maliput/html/annotated.html).

## Examples

[Getting Started](https://maliput.readthedocs.io/en/latest/getting_started.html) page is a good place for starting to see the Maliput's capabilities.

There are a couple of packages where the Maliput's API is exercised.
 - [maliput_integration](https://github.com/maliput/maliput_integration): Concentrates applications created for maliput. See [maliput_integration's tutorials](https://maliput.readthedocs.io/en/latest/html/deps/maliput_integration/html/integration_tutorials.html).
 - [delphyne_demos](https://github.com/maliput/delphyne_demos): Contains demos based on delphyne, which is an agent simulation framework that uses `maliput` as the road network model. See [delphyne_demos](https://github.com/maliput/delphyne_demos).

## Installation

### Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

### Binary Installation on Ubuntu

See [Installation Docs](https://maliput.readthedocs.io/en/latest/installation.html#binary-installation-on-ubuntu).

### 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.
    ```sh
    mkdir colcon_ws/src -p
    ```

2. Clone this repository in the `src` folder
    ```sh
    cd colcon_ws/src
    git clone https://github.com/maliput/maliput.git
    ```

3. Install package dependencies via `rosdep`
    ```
    export ROS_DISTRO=foxy
    ```
    ```sh
    rosdep update
    rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src
    ```

4. Build the package
    ```sh
    colcon build --packages-up-to maliput
    ```

**Note**: To build documentation a `-BUILD_DOCS` cmake flag is required:
    ```sh
    colcon build --packages-select maliput --cmake-args " -DBUILD_DOCS=On"
    ```

For further info refer to [Source Installation on Ubuntu](https://maliput.readthedocs.io/en/latest/installation.html#source-installation-on-ubuntu)

#### For development

It is recommended to follow the guidelines for setting up a development workspace as described [here](https://maliput.readthedocs.io/en/latest/developer_setup.html).

## Profiling maliput

`maliput` is able to run a profiler for evaluating performance.
It is implemented via `ign-common3`'s `profiler` component.

In order to avoid any performance drop and to keep maliput dependency chain clean, this is disabled by default and the binaries aren't distributed with the profiler enabled.

For having the profiler enabled when using `maliput`, it is mandatory to install `maliput` from source.

### Steps

1. Install prerequisites. `ign-common3` is not installed via `rosdep` as the profiler is only run on demand:

```
    sudo apt install libignition-common3-profiler-dev
    ```

2. Build `maliput` package using `MALIPUT_PROFILER_ENABLE` cmake argument:
Continue the [Source-Installation-on-Ubuntu](#Source-Installation-on-Ubuntu) instructions. The only difference is:
    ```
    colcon build --packages-select maliput --cmake-args " -DMALIPUT_PROFILER_ENABLE=On"
    ```

3. Run an application with your preferred `maliput` backend. In another terminal, open the visualizer for the profiler:
    ```
    ign_remotery_vis
    ```
    _Note: As it opens a browser using `xdg-open`, it is recommended to have installed `xdg-utils` and a browser: (e.g: `sudo apt install -y xdg-utils firefox`)_.

## Contributing

Please see [CONTRIBUTING](https://maliput.readthedocs.io/en/latest/contributing.html) page.

## License

[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://github.com/maliput/maliput/blob/main/LICENSE)

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