Gallery 

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