maliput_malidrive

Description

maliput_malidrive package is a Maliput backend implementation. Its underlying format specification is based on OpenDRIVE format. Allowing the users to load a road network out of a XODR file description.

Please go to XODR Parser capabilities for further information about OpenDRIVE’s parser.

Note: For full information about Maliput please visit Maliput Documentation.

Resources

maliput_malidrive provides several map resources at maliput_malidrive/resources. These resources are:

• XODR files for describing different road networks using OpenDRIVE format specification.
• YAML files for describing maliput’s road network information of type: Range Value Rules, Discrete Value Rules, Traffic Lights, Phase Rings, Intersections, etc.

Resources are installed natively, so the users are able to use them for their own interest. In order to get the installation path check the environment variable: MALIPUT_MALIDRIVE_RESOURCE_ROOT.

API Documentation

Refer to Maliput Malidrive’s Online API Documentation.

Examples

Getting Started page is a good place for starting to see Maliput’s capabilities and how to use a Maliput backend for getting a road network.

• maliput_malidrive’s applications: This package provides some applications to validate a XODR file. See maliput_malidrive’s tutorials.
• maliput_integration: Concentrates applications created for maliput. See maliput_integration’s tutorials. These applications allow to select maliput_malidrive as the backend.

Installation

Supported platforms

Ubuntu Focal Fossa 20.04 LTS.

Binary Installation on Ubuntu

See Installation Docs.

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
    

1. Clone this repository in the src folder

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

1. Install package dependencies via rosdep

    export ROS_DISTRO=foxy
    

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

1. Build the package

    colcon build --packages-up-to maliput_malidrive
    

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

    colcon build --packages-select maliput_malidrive --cmake-args " -DBUILD_DOCS=On"
    

More info at [Building Documentation](https://maliput.readthedocs.io/en/latest/developer_guidelines.html#building-the-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

Changelog for package maliput_malidrive

0.18.0 (2026-01-23)

• Correctly populate LaneBoundaries when only left or right lanes are present. (#398)
• Signal parsing. (#395) ---------
• Contributors: Franco Cipollone, Santiago Lopez

0.17.2 (2026-01-20)

• Fixing object xodr bool parsing (#396)
• Contributors: Juan Carosella

0.17.1 (2026-01-20)

• Add BCR maintainers. (#393)
• Contributors: Santiago Lopez

0.17.0 (2026-01-19)

• Migrate behavior to maliput::geometry_base. (#391)
• XODR Object parsing. (#387)
• Contributors: Juan Carosella, Santiago Lopez

0.16.0 (2026-01-12)

• Implement GetCurvature method for Lane. (#388)
• Contributors: Franco Cipollone

0.15.1 (2026-01-07)

• Map lane boundaries correctly. (#385)

• Adding rest of xodr object elements modules (#383)

  * XODR Object parsing final elements. (#384) ---------

• Jcarosella xodr object parsing (#382)

• Add copilot instructions. (#380)

• Contributors: Franco Cipollone, Juan Carosella, Santiago Lopez

0.15.0 (2025-12-19)

• Implement LaneBoundary. (#379)
• roadMarker xodr parser (#376)
• Implement LaneType API. (#377)
• Update macOS runner version to macos-14 (#378)
• Remove pull requests from triage process. (#369)
• Contributors: Franco Cipollone, Juan Carosella, Santiago Lopez

0.14.0 (2025-12-10)

• Use angular_tolerance for C1 continuity checks. (#363)
• Add useful script to verify continuity of geometries from xodrs (#364)
• Contributors: Franco Cipollone

0.13.0 (2025-12-02)

• Allow schema error: Contact point in junction. (#362)
• Improve trace logging of piece-wise ground curve construction. (#361)
• Support for parametric cubic curves (<paramPoly3>). (#358)
• Update wheel generation. (#354)
• Contributors: Franco Cipollone

0.12.1 (2025-10-06)

• Add tests for KDTree strategy FindRoadPositions with actual XODR. (#352)
• Contributors: Santiago Lopez

0.12.0 (2025-09-22)

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