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Test Data

Files

File Description Source
fabriksgatan.xodr OpenDRIVE map of Fabriksgatan, Gothenburg — urban intersection with paramPoly3 geometry esmini
pedestrian.osi OSI GroundTruth trace with pedestrian scenario on Fabriksgatan esmini
pedestrian_fabriksgatan.mcap MCAP combining pedestrian.osi + fabriksgatan.xodr — full playback scenario Generated with omega-prime
combined_example.mcap Feature-rich merged map (highway + intersection + signals) with playback timeline Generated with create_mcap.py
tunnels.xodr Two roads with 4 tunnels, barriers with repeat, lane emergence, elevation esmini
tunnels.mcap MCAP wrapping tunnels.xodr with playback timeline Generated with create_mcap.py
multi_intersections.xodr 30+ roads, multiple junctions, dynamic traffic lights, pedestrian signals esmini
multi_intersections.mcap MCAP wrapping multi_intersections.xodr with playback timeline Generated with create_mcap.py
osi_centerline_example.mcap OSI GroundTruth trace with centerline data (no OpenDRIVE map — not usable by this converter; included for reference) omega-prime

Licenses

All third-party test data files are licensed under the Mozilla Public License 2.0 (MPL-2.0).

Source License Link
esmini/esmini MPL-2.0 LICENSE
ika-rwth-aachen/omega-prime MPL-2.0 LICENSE
Persival-GmbH/asam-openx-assets MPL-2.0 LICENSE
vectorgrp/OSC-NCAP-scenarios MPL-2.0 LICENSE

MPL-2.0 is a file-level copyleft license: the original files remain under MPL-2.0 while the rest of this repository is licensed under Apache-2.0.

Feature Coverage

combined_example.mcap

  • 28 roads, 2 junctions
  • Geometry types: line, arc, spiral, paramPoly3
  • Lane types: driving, shoulder, stop, border, median, sidewalk, none
  • 14 objects (barriers, delineators)
  • 3 signals (traffic lights)
  • Elevation profiles (cubic polynomials)

Sources:

tunnels.mcap

  • 2 roads, line + spiral + arc geometry
  • 4 tunnel objects (flexible, short, manual tunnel types)
  • 3 barrier objects with <repeat> patterns
  • Lane emergence (width 0 → 3.5 m via polynomial)
  • Mid-road roadmark changes (solid → broken → solid)
  • Elevation profiles (hills up to 20 m)
  • OpenDRIVE schema 1.6

multi_intersections.mcap

  • 30+ roads, multiple junctions with complex topology
  • Dynamic traffic lights (type=1000001, 3-phase), pedestrian lights (type=1000002)
  • Crosswalk road marks, yield/stop signs, directional arrows
  • Signal <validity> scoping to specific lane ranges
  • Lane widening (merge lane tapering to zero)
  • Sidewalk curb heights via <height> elements

Creating Your Own MCAP

Preferred: Using omega-prime (spec-compliant MCAP)

pip install omega-prime

python -c "
import omega_prime
rec = omega_prime.Recording.from_file('trace.osi', map_path='map.xodr')
rec.to_mcap('output.mcap')
"

Fallback: Using create_mcap.py (standalone)

pip install mcap

# Single file
python test-data/create_mcap.py my_map.xodr

# Multiple files merged into one
python test-data/create_mcap.py highway.xodr intersection.xodr -o combined.mcap

# With explicit map reference and custom timeline duration
python test-data/create_mcap.py my_map.xodr -r "My Custom Map" -d 10 -o output.mcap

The output MCAP contains a ground_truth_map channel (static map) and a ground_truth channel (timeline for playback).