Installation 

Introduction 

This page aims to provide a quick overview of the installation process of maliput repositories. The maliput ecosystem is composed of several packages including both core packages and utility packages.

Packages 

The following list shows the packages that are part of the maliput ecosystem.

The first column shows the name of the package.
The second column shows the packages that are released via ROS 2 Release repositories for the Foxy distribution.
The third column shows the packages released via PyPI.
The fourth column shows the packages that are added to the Bazel Central Registry index.
- Note: A temporary fork of the bazel central registry is being used for the moment until some dependencies are solved.

Maliput packages
Packages	ROS 2 Foxy Index	PyPI Index	Bazel Central Registry
maliput	ros-foxy-maliput	maliput	maliput
maliput_py	ros-foxy-maliput-py	N/A	N/A
maliput_object	ros-foxy-maliput-object	N/A	N/A
maliput_object_py	ros-foxy-maliput-object-py	N/A	N/A
maliput_dragway	ros-foxy-maliput-dragway	N/A	N/A
maliput_drake	ros-foxy-maliput-multilane	N/A	N/A
maliput_malidrive	ros-foxy-maliput-malidrive	maliput_malidrive	maliput_malidrive
maliput_sparse	ros-foxy-maliput-sparse	N/A	N/A
maliput_osm	ros-foxy-maliput-osm	N/A	N/A
maliput_viz	ros-foxy-maliput-viz	N/A	N/A
maliput_integration	ros-foxy-maliput-integration	N/A	N/A
drake_vendor	N/A	N/A	N/A
delphyne	N/A	N/A	N/A
delphyne_gui	N/A	N/A	N/A
delphyne_demos	N/A	N/A	N/A

Supported platforms 

Ubuntu Focal Fossa 20.04 LTS.

Binary Installation on Ubuntu 

ROS 2 Foxy 

Prerequisites 

Add ROS2 repository to your source list (see ROS2 Foxy setup process):

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

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

Install binaries 

Install the binaries of the packages:

sudo apt install ros-foxy-<package_name>

Use maliput-full package to install all the maliput packages:

sudo apt install ros-foxy-maliput-full

Or simple indicate the packages to install. For example to install maliput_malidrive package:

sudo apt install ros-foxy-maliput-malidrive

This depends on maliput` and maliput_drake packages so they are expected to be installed too.

PyPI Index 

Requirements 

Python 3.8 or higher

Install binaries 

For installing maliput packages from PyPI index, you can use pip:

Install maliput

pip install maliput

Install maliput_malidrive backend.

pip install maliput_malidrive

Verify installation:

python3 -c "import maliput; maliput.plugin.MaliputPluginManager()"

The output of the logging should be something like:

[INFO] Plugin Id: maliput_malidrive was correctly loaded.
[INFO] Number of plugins loaded: 1

maliput_malidrive is installed as a plugin for maliput. So if maliput_malidrive backend is not listed in the list of plugins, maliput_malidrive won’t be available for use.

Source Installation on Ubuntu 

See Developer Setup.