Hakoniwa ROS Simulator

The TOPPERS Project Hokoniwa WG develops “Hakoniwa,” a virtual simulation environment for the age of IoT/Cloud Robotics.

This repository provides an environment where you can quickly try simulations of ROS 2 programs on Hakoniwa.

Requirements

• Windows: Windows 10/11
  • Ubuntu 20.04 LTS on WSL2/WSLg
• Linux: Ubuntu 20.04 LTS
• MacOS: macOS Catalina ver.10.15.7

In the Windows environment, we assume that you will perform all operations on the WSL2/Linux shell. Please execute under the Windows file system (under /mnt/c/), not under the WSL2 file system (under /home/${USER}/).

Preparations

Clone this repository

The latest version is v1.1.4. See also “version information/update history” (the version number corresponds to tag/release in Git/GitHub and Docker Hub tag number.

Clone this repository with the following command in the terminal.

git clone --recursive -b v1.1.4 https://github.com/toppers/hakoniwa-ros2sim.git

Install Docker Engine

This simulator uses Docker.

Note: We experimentally try to run the simulator in native Linux environments (including WSL2). Please refer to appendix/native.md for the procedure to run in the native environment.

For Mac

We recommend using Docker Desktop for Mac.

For Windows/WSL2 and Linux

The simulator requires the Docker Engine to be installed on WSL2. If the following command outputs the same result in the terminal of WSL2, it has already been installed (the line starting with $ indicates the command to be executed).

$ which docker
/usr/bin/docker
$ service --status-all |& grep docker
 [ + ]  docker   # or " [ - ]  docker "
$ service docker status
 * Docker is running   # or " * Docker is not running "

Since the Docker Engine installation procedure is a bit complicated, we summarized it in docker/install-docker.bash in “toppersjp/hakoniwa-single_robot” repository by referring the official manual. If you have any trouble to execute this script, please follow the official manual to install Docker.
Install Docker Engine on Ubuntu | Docker Documentation

Execute as follows to install Docker with our script.

wget https://raw.githubusercontent.com/toppers/hakoniwa-single_robot/main/docker/install-docker.bash
bash install-docker.bash

If the service docker status is ` * Docker is not running `, start Docker.

sudo service docker start

If the output is as follows, Docker is running.

 * Starting Docker: docker                           [ OK ] 

This procedure requires the user to be a member of the docker group. Otherwise, execute the following command.

sudo gpasswd -a $USER docker
sudo chgrp docker /var/run/docker.sock
sudo service docker restart

The results of the above command execution will take effect after you re-login to the terminal.

Install Unity

• Unity Hub 3.1.1 or later
• Unity Editor 2021.3.0f1
  • If you do not see this version on the “Installs > Install Editor” screen of Unity Hub, you can install it by clicking on “Unity Hub” in the Unity Dowonload Archive.

Simulator Installation Procedure

Deploy Docker images

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