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Gallery

Table of Contents

Collection of demos that shows maliput features via maliput-malidrive implementation:

Road Geometry

At the moment, maliput-malidrive supports Lines and Arcs as geometries to describe a road. Each road can be piecewise-defined using an unlimited number of arcs and lines.

Geometries

  • Line

Used map: SingleLane.xodr

  • Arc

Used map: ArcLane.xodr

  • Combination of arcs and lines

Used map: SShapeRoad.xodr

Several lanes per road

  • Each road supports as many lanes as needed.

Used map: LShapeRoadVariableLanes.xodr

Lanes with varying width

Used map: LineVariableWidth.xodr

Lanes with varying offset

Used map: LineVariableOffset.xodr

Roads with elevation profile

Elevation of a Road could be piecewise-defined by using a unlimited number of third-grade polynomials.

Used map: ParkingGarageRamp.xodr

Roads with lateral profile

  • Superelevation:

Superelevation of a Road could be piecewise-defined by using a unlimited number of third-grade polynomials.

Used map: SShapeSuperelevatedRoad.xodr

Intersections

  • Connections/intersections between roads are supported.

Used map: TShapeRoad.xodr

Integration demos

The delphyne_demos package provides several demos where delphyne agents are placed on maliput Road Networks.

Agent traversing a city

Used map: Town07.xodr

Dynamic environments: Traffic Lights and Rules

Agents being aware of state rules changing according to traffic lights.

Used map: LoopRoadPedestrianCrosswalk.xodr