diff --git a/.github/workflows/wheel_generation.yml b/.github/workflows/wheel_generation.yml
new file mode 100644
index 0000000..0493141
--- /dev/null
+++ b/.github/workflows/wheel_generation.yml
@@ -0,0 +1,85 @@
+name: Wheel Generation
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+env:
+  PACKAGE_NAME: maliput_malidrive
+  COLCON_WS: maliput_ws
+  PYTHON_VERSION: cp38-cp38
+  CMAKE_COMMAND_ENV: /opt/_internal/cpython-3.8.18/bin/cmake
+  RETENTION_DAYS: 7
+
+  # Cancel previously running PR jobs
+concurrency:
+  group: '${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}'
+  cancel-in-progress: true
+
+jobs:
+  manylinux2014:
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/maliput/manylinux2014_maliput:latest
+      credentials:
+         username: ${{ github.actor }}
+         password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v3
+      with:
+        path: ${{ env.COLCON_WS }}/src/${{ env.PACKAGE_NAME }}
+    # clone public dependencies
+    - name: git clone maliput
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}/src
+      run: git clone https://github.com/maliput/maliput
+    - name: colcon graph
+      run: /opt/python/${PYTHON_VERSION}/bin/colcon graph
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}
+    # colcon build
+    - name: colcon build
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}
+      run: |
+        source /colcon_builds/install/setup.bash;
+        PATH=/opt/python/${PYTHON_VERSION}/bin:$PATH \
+        /opt/python/${PYTHON_VERSION}/bin/colcon build --packages-up-to ${PACKAGE_NAME} \
+          --cmake-args \
+            ' -DWHEEL_GENERATION=On' \
+            ' -DBUILD_TESTING=Off' \
+            ' -DPython3_EXECUTABLE=/opt/python/${{ env.PYTHON_VERSION }}/bin/python3' \
+          --event-handlers=console_direct+
+    # List wheel output
+    - name: list wheel output
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}
+      run: ls build/${PACKAGE_NAME}/wheel
+    # Run auditwheel repair
+    - name: auditwheel repair
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}
+      run: |
+        source install/setup.bash;
+        auditwheel repair \
+          --plat manylinux2014_x86_64 \
+          --wheel-dir build/${PACKAGE_NAME}/wheel/repaired \
+          build/${PACKAGE_NAME}/wheel/*.whl
+    # List repaired wheel output
+    - name: list repaired wheel output
+      shell: bash
+      working-directory: ${{ env.COLCON_WS }}
+      run: ls build/${PACKAGE_NAME}/wheel/repaired
+    # Upload repaired wheel as artifact
+    - name: upload wheels as artifact
+      uses: actions/upload-artifact@v3
+      with:
+        name: maliput_malidrive_manylinux2014_x86_64
+        path: ${{ env.COLCON_WS }}/build/${{ env.PACKAGE_NAME }}/wheel/repaired
+        retention-days: ${{ env.RETENTION_DAYS }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a215377..b37d9ec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 ##############################################################################
 
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
-project(maliput_malidrive LANGUAGES C CXX VERSION 1.0.0)
+project(maliput_malidrive LANGUAGES C CXX VERSION 0.1.4)
 
 ##############################################################################
 # CMake Support
@@ -19,7 +19,6 @@ include(GNUInstallDirs)
 message(STATUS "\n\n====== Finding 3rd Party Packages ======\n")
 
 find_package(ament_cmake REQUIRED)
-find_package(gflags REQUIRED)
 
 find_package(maliput REQUIRED)
 
@@ -76,6 +75,43 @@ else()
   message(STATUS "Doxygen generation - Disabled")
 endif()
 
+
+##############################################################################
+# Wheel
+##############################################################################
+
+if (WHEEL_GENERATION)
+  include(FetchContent)
+  message(STATUS "Wheel generation - Enabled")
+  FetchContent_Declare(python-cmake-wheel
+  GIT_REPOSITORY "https://github.com/maliput/python-cmake-wheel"
+  GIT_TAG        "main"
+  GIT_SHALLOW    ON)
+
+  FetchContent_GetProperties(python-cmake-wheel)
+  FetchContent_MakeAvailable(python-cmake-wheel)
+  list(APPEND CMAKE_MODULE_PATH "${python-cmake-wheel_SOURCE_DIR}")
+  include(python-wheel)
+  set(WHEEL_DEPLOY_DIRECTORY "${CMAKE_BINARY_DIR}/wheel")
+
+  set (DEPLOY_FILES "")
+  list(APPEND DEPLOY_FILES "${PROJECT_SOURCE_DIR}/maliput_malidrive/__init__.py")
+  # TODO(francocipollone): Deploy the resources folder as well
+
+  add_wheel(road_network
+    NAME maliput_malidrive
+    AUTHOR "Franco Cipollone"
+    URL "https://github.com/maliput/maliput_malidrive"
+    VERSION "${PROJECT_VERSION}"
+    DESCRIPTION "OpenDRIVE-based maliput backend."
+    LICENSE_PATH "${PROJECT_SOURCE_DIR}/LICENSE"
+    DEPLOY_FILES ${DEPLOY_FILES}
+    MALIPUT_PLUGIN_ENTRY_POINT "maliput_malidrive = maliput_malidrive:get_plugin_path"
+  )
+else()
+  message(STATUS "Wheel generation - Disabled")
+endif()
+
 ##############################################################################
 # Export
 ##############################################################################
diff --git a/maliput_malidrive/__init__.py b/maliput_malidrive/__init__.py
new file mode 100644
index 0000000..c9739cf
--- /dev/null
+++ b/maliput_malidrive/__init__.py
@@ -0,0 +1,5 @@
+import os
+
+def get_plugin_path():
+    # return this location. It is expected to be the plugin located in this same location
+    return os.path.dirname(os.path.abspath(__file__))
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0b94509..96c9d6b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,7 +2,9 @@
 # Directories
 ##############################################################################
 
-add_subdirectory(applications)
+if(NOT WHEEL_GENERATION)
+  add_subdirectory(applications)
+endif()
 add_subdirectory(maliput_malidrive)
 add_subdirectory(plugin)
 add_subdirectory(utility)
diff --git a/src/applications/CMakeLists.txt b/src/applications/CMakeLists.txt
index dd86b14..99d2ec2 100644
--- a/src/applications/CMakeLists.txt
+++ b/src/applications/CMakeLists.txt
@@ -1,3 +1,5 @@
+find_package(gflags REQUIRED)
+
 add_library(log_level_flag INTERFACE)
 target_sources(
   log_level_flag