maliput_geopackage

Description

maliput_geopackage is a Maliput backend implementation that loads road network data from GeoPackage files.

GeoPackage is an OGC standard format that uses SQLite as its container, providing:

• Spatial indexing (R-tree) for efficient queries
• Schema enforcement at database level
• Compatibility with GIS tools (QGIS, GDAL, etc.)
• Single-file distribution

This backend relies on maliput_sparse for building the road geometry from sampled lane boundaries.

Documentation

• GeoPackage Schema: Complete schema specification with examples.

Supported platforms

Ubuntu Focal Fossa 20.04 LTS, ROS2 Foxy.

Build

colcon build --packages-select maliput_geopackage

Usage

Basic Example

#include <maliput_geopackage/builder/road_network_builder.h>

const std::map<std::string, std::string> builder_config {
  {"gpkg_file", "/path/to/road_network.gpkg"},
  {"road_geometry_id", "my_road_network"},
  {"linear_tolerance", "0.01"},
  {"angular_tolerance", "0.01"},
};

auto road_network = maliput_geopackage::builder::RoadNetworkBuilder(builder_config)();

For development

It is recommended to follow the guidelines for setting up a development workspace as described here.

Contributing

Please see CONTRIBUTING page.

License