Install / run a standalone robot simulator in wsl2 / docker environment!

Overview

TOPPERS / Hakoba WG has released Single Robot Simulator to the public, but it takes a lot of time to install. So, I made a batch installer using wsl2 / docker, so I will introduce it. If it is a fast machine, the installation will be completed in about 10 minutes.

Premise

The following environment is assumed to be installed.

• Windows10 Home or Pro (either is fine)
• WSL2
• docker

In addition, docker must be started before installation.

$ sudo service docker start

Installation procedure

The procedure is as follows.

1. Clone the Hakoniwa WG repository (hakoniwa-Unity-HackEV)
2. Hit the installer

Clone the Hakoniwa WG repository (hakoniwa-Unity-HackEV)

On WSL2, move to any folder on Windows and create / move the working directory.

$ mkdir toppers_work
$ cd toppers_work

Clone.

$ git clone https://github.com/toppers/hakoniwa-Unity-HackEV.git

Hit the installer

Move to the following directory.

$ cd hakoniwa-Unity-HackEV/docker/v850

Hit the installer (I think it's about 10 minutes).

$ utils/install.bash

If the installation is successful, you should see the following docker image.

$ sudo docker images
REPOSITORY                  TAG                 IMAGE ID            CREATED             SIZE
kanetugu2015/athrill-v850   v1.1.1              05fbd93397be        4 hours ago         370MB
kanetugu2015/ev3rt-v850     v1.0.0              f0c6b1412652        6 days ago          1.78GB

How to build

The EV3RT application is created in a folder called base_practice_1. The build method is as follows.

Start docker container for build

From WSL2, start the build container with the following command.

$ bash run-builder.bash
root@MyComputer:~#

Build execution

Just hit the following command on the started docker container.

# ./clean_build.bash base_practice_1

Simulation execution method

To run the simulation, you need to start the Unity app and athrill respectively.

Run Unity app

The Unity application is started on wsl2 with the following command.

$ ./utils/start-unity.bash single-robot

If successful, the following UI will start.

Run a thrill

Execution of athrill is done in docker container.

From WSL2, start the athrill execution container with the following command.

$ bash run-athrill.bash base_practice_1

Once started, just hit the athrill execution command.

# ./start-athrill.bash

demo

The simulation execution demo looks like this.

Supplement

As a caveat, the current WSL2 seems to have a bug in MMAP. Therefore, the communication method between Unity and athrill is UDP communication. Once the MMAP problem of WSL2 is resolved, I would like to proceed with the study of the MMAP method.