Applies to v0.1.0.

Network

Three ways to reach the simulator from outside. All of them run on localhost by default; none of them need the Unity editor.

Which one

• Python API · 7720 — drive the car, train a policy, collect data. Native on macOS and Linux, no ROS, no Docker. Start here unless you specifically need ROS.
• ROS 2 / ROS 1 · 9090 — for interoperating with existing ROS nodes. Native on Linux, Docker on macOS.
• Visualisation · 8765 — Foxglove reads the sensor streams straight from Unity, no ROS involved.

Nothing starts on its own

The Python API and Foxglove servers are both started from the Network panel. Launching the simulator is not enough. Each has its own Start button and sits idle until you press it, so a fresh session has nothing listening on 7720 or 8765.

Unity is a rosbridge client, not a ROS node. A rosbridge_server must already be running for Connect to attach to, so start it first.

Units and signs live elsewhere

These pages cover connecting and the message shapes. What the numbers mean (the units, the opposite sign conventions, the speed ceiling) is one contract shared by every transport, and it is on Vehicle control.