Maliput-Webots Worlds

Description

This repository contains a Webots project with:

• Wolds:
  • Two simple road networks are provided
• Controller:
  • Pure pursuit controller that uses maliput for representing the road network.

Requirements

• maliput (Foxy):
  • Maliput Binary installation
    • It is recommended to install the maliput-full package.
• Webots
  • Webots installation

Try it!

source underlying binaries

source /opt/ros/foxy/setup.bash

Run webots and use the user interface to load your desired world.

webots

or directly run webots using the desired world.

webots worlds/loop_road_pedestrian_crosswalk_single_agent.wbt

Available worlds

• loop_road_pedestrian_crosswalk_single_agent.wbt
• loop_road_pedestrian_crosswalk_multi_agent.wbt
• circuit_single_agent.wbt
• circuit_multi_agent.wbt