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

0.7.0 (2025-06-11)

• Bug fix for OpenScenarioLanePos to maliput lane conversion. (#314)
• Add builder param to tune integrator accuracy. (#313)
• Adjusts lane's range validation for the queries. (#312)
• Modify heuristic to optimize maximum step size for the integrator configs. (#311)
• Contributors: Franco Cipollone

0.6.1 (2025-05-29)

• Change all warn level logging to debug level. (#309)
• Contributors: Santiago Lopez

0.6.0 (2025-05-21)

• Use KDTree strategy in malidrive for improving query times (#226)
• Contributors: Eloy Briceno, Franco Cipollone

0.5.0 (2025-05-20)

• Allow offset discontinuities when allowing semantic errors in XODRs. (#306 https://github.com/maliput/maliput_malidrive/issues/306)
• Adapt driveable lane's widths so they are C1 continuous. (#305 https://github.com/maliput/maliput_malidrive/issues/305)
• Contributors: Santiago Lopez

0.4.4 (2025-04-22)

• Bazel: Bump to use latest maliput and eigen release. (#303)
• Contributors: Franco Cipollone

0.4.3 (2025-04-10)

• Provide method to obtain the road orientation from a OS RoadPosition. (#297)
• Provides OpenScenarioRelativeLanePositionToMaliputRoadPosition conversion method. (#296)
• Contributors: Santiago Lopez

0.4.2 (2025-03-25)

• Provides OpenScenarioRelativeRoadPositionToMaliputRoadPosition conversion method. (#294)
• Contributors: Franco Cipollone

0.4.1 (2025-03-18)

• Useful conversions from Maliput to OpenScenario Position types. (#292)
• Contributors: Santiago Lopez

0.4.0 (2025-03-07)

• Implements DoBackendCustomCommand method. (#289)
• Provide some useful conversions for OpenScenario users (#288)
• Updates to presubmit file. (#286)
• Contributors: Franco Cipollone

0.3.1 (2024-11-01)

• Minor changes to presubmit.yml file. (#284)
• Bazel: Bumps maliput to 1.3.1. (#283)
• Update wheel_generation.yml (#282)
• Update github action versions. (#281) ---------
• Contributors: Agustin Alba Chicar, Franco Cipollone

0.3.0 (2024-04-29)

• Flags spiral support. (#279)

• Spiral Lane integration (#277)

• Adds bazel version information to presubmit.yml file. (#275)

• Add curbs to the builder. (#274)

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