delphyne

Description

Delphyne is a traffic level simulator for autonomous driving.

Road network model is provided by Maliput libraries.

Related packages:

• delphyne_gui: Provides a visualizer for delphyne.
• delphyne_demos: Provides demos for delphyne.

API Documentation

Refer to Delphyne's Online API Documentation.

Examples

Visit delphyne_demos.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

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 dependencies in the src folder

   cd colcon_ws/src
   git clone https://github.com/maliput/drake_vendor.git

3. Clone this repository in the src folder

   cd colcon_ws/src
   git clone https://github.com/maliput/delphyne.git

4. Install package dependencies via rosdep

   export ROS_DISTRO=foxy
   

   rosdep update
   rosdep install -i -y --rosdistro $ROS_DISTRO --from-paths src

5. Follow instructions to install drake via drake_vendor package.

6. Build the package

   colcon build --packages-up-to delphyne

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

   colcon build --packages-select delphyne --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