Applies to v0.1.0.

Network · ROS 1

The same rosbridge route as ROS 2 on port 9090. Native Noetic on Ubuntu 20.04, Docker on macOS.

Noetic reached end of life in May 2025. Prefer ROS 2 unless you specifically need a Noetic stack. And remember Unity is a rosbridge client. Start the server first.

Linux: native

sudo apt install ros-noetic-rosbridge-suite

source /opt/ros/noetic/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch   # roscore + rosbridge

macOS: Docker

git clone https://github.com/Hyeokk/Nano-sim.git && cd Nano-sim

docker run --rm -it --name nanosim-ros -p 9090:9090 \
    -v "$PWD/examples:/ws/examples" hyeokk64/nanosim-ros:noetic

To build it yourself, or to use the compose profile, run compose from docker/:

docker build -f docker/Dockerfile.ros1-noetic -t nanosim-ros:noetic .
cd docker && docker compose --profile noetic up --build

Connect Unity

Transport Type = ROS1, host 127.0.0.1, port 9090.
Enable /cmd_vel in the topic config, then press Connect.

Topics

The graph is identical to ROS 2. {device}is the sensor's name from the Sensor Setup panel, so which sensor topics appear depends on what you have added. Run rostopic list to see yours.

Topic	Type	Dir	Notes
`/cmd_vel`	`geometry_msgs/Twist`	in	Drive commands. Publish above 2 Hz or the watchdog stops the car.
`/camera/{device}/compressed`	`sensor_msgs/CompressedImage`	out	JPEG frames — raw `Image` is never published (bandwidth).
`/camera/{device}/camera_info`	`sensor_msgs/CameraInfo`	out	Intrinsics — feeds depth → point-cloud and rectification pipelines.
`/lidar/{device}/scan`	`sensor_msgs/LaserScan`	out	2D LiDAR.
`/lidar/{device}/points`	`sensor_msgs/PointCloud2`	out	3D LiDAR — and the 2D scan as a cloud of its hits.
`/imu/{device}/data`	`sensor_msgs/Imu`	out	Orientation, angular velocity, specific force.
`/gnss/{device}/fix`	`sensor_msgs/NavSatFix`	out	Position fix.
`/ego/odom`	`nav_msgs/Odometry`	out	Ego pose and twist in the `odom` frame.
`/ego/cmd_applied`	`geometry_msgs/Twist`	out	What the car actually obeyed.
`/ego/vehicle_info`	`std_msgs/String`	out	1 Hz — the vehicle limits as JSON.
`/tf`	`tf2_msgs/TFMessage`	out	30 Hz — the full frame tree (see Frames & time).
`/clock`	`rosgraph_msgs/Clock`	out	Ships disabled — enable it only when `time_scale ≠ 1`.

/ego/vehicle_info is a String rather than a custom type on purpose: rosbridge drops an advertise for a message type it has no definition for.

Example

source /opt/ros/noetic/setup.bash
python3 examples/ros1/nanosim_teleop_ros1.py

On macOS it needs a second terminal, since the container's stdin already belongs to rosbridge:

docker exec -it nanosim-ros bash -lc \
    "source /opt/ros/noetic/setup.bash && python3 /ws/examples/ros1/nanosim_teleop_ros1.py"

It reads the car's limits before starting and reports the source in brackets: /ego/vehicle_info, then describe, then a built-in default. See Vehicle control for what the values mean.

Troubleshooting

rostopic list is empty — Unity is not connected; check transport, host, port, and the rosbridge log.
Connected but the car won't move — /cmd_vel is disabled in the topic config.
Car stutters and stops — publish rate fell under 2 Hz and the watchdog fired.
Teleop exits immediately in Docker — no TTY; use docker exec -it, not up.