Hakoniwa
A virtual simulation environment in the age of IoT and cloud robotics
Technical Background
Why Hakoniwa is essential
Concept
What is Hakoniwa?
Our Goal
Target users, strengths, and novelty of Hakoniwa
Hakoniwa Core
Core technologies of Hakoniwa
Underlying technology
Introduction to the underlying technology comprising Hakoniwa
Roadmap
R&D Guideline and roadmap
- 2025.11.1
- Repository updates and release information
- toppers/hakoniwa-ros2pdu 2.2.1 (2025.10.23)
- Bug fixes
- toppers/hakoniwa-drone-core v3.4.0 (2025.10.22)
- Added MuJoCo integration feature
- Added Gemini integration feature
- Added Scratch integration feature
- Feature updates for Hakoniwa Drone PRO users
- toppers/hakoniwa-drone-core v3.3.1 (2025.10.22)
- toppers/hakoniwa-core-cpp v1.1.1 (2025.10.16)
- toppers/hakoniwa-ros2pdu v2.2.0 (2025.10.16)
- JavaScript support
- toppers/hakoniwa-pdu-csharp v2.0.1 (2025.10.16)
- toppers/hakoniwa-webserver v1.0.1 (2025.10.16)
- toppers/hakoniwa-bridge v2.0.1 (2025.10.16)
- toppers/hakoniwa-ros2pdu 2.2.1 (2025.10.23)
- Repository updates and release information
- 2025.9.11
- Repository updates and release information
- toppers/hakoniwa-drone-core v3.3.0 (2025.9.11)
- toppers/hakoniwa-drone-core v3.2.2 (2025.9.11)
- toppers/hakoniwa-drone-core v3.2.1 (2025.8.15)
- Renewed Hakoniwa core from old version to new version
- Data reception event feature
- RPC service feature
- Repository updates and release information
- 2025.7.29
- Repository updates and release information
- toppers/hakoniwa-drone-core v3.2.0 (2025.7.29)
- Added license guide (including PRO version link)
- Explicitly stated Unreal Engine support
- Added introduction section for Drone API and External Environment API
- Added comparison with other OSS (flexibility, open design philosophy)
- toppers/hakoniwa-sim-csharp v2.0.0 (2025.7.29)
- package.json version updated from 1.0.0 to 1.2.3
- Added Plugins/linux directory and libshakoc.so with meta files
- Updated binaries for Windows (shakoc.dll) and macOS (libconductor.dylib, libshakoc.dylib)
- toppers/hakoniwa-pdu-csharp v2.0.0 (2025.7.29)
- Added multiple new PDU classes including Mavlink-related messages (HakoHeartbeat, HakoSystemTime) and monitor camera-related messages (MonitorCameraCmd, MonitorCameraData)
- Added classes for atmospheric and boundary conditions (DisturbanceAtm, DisturbanceBoundary) as new fields in the Disturbance class
- Added message and packet classes for service communication (AddTwoIntsRequest, etc.)
- Added DroneStatus class to hold drone state
- Updated many existing message files including Time with added using statements and field modifications
- Updated encoding process to use DynamicAllocator for dynamic allocation, introducing mechanism to expand variable-length array data to heap area
- package.json version updated from 1.0.0 to 1.4.0
- toppers/hakoniwa-webserver v1.0.0 (2025.7.29)
- Support for PDU request reception
- Added processing to register requests to server when RequestPduRead is received in WebSocket implementation
- Implemented _send_packet() and send_packet_threadsafe() for asynchronous transmission
- Added on-demand PDU read queue to HakoPduServer
- Added new script real_time_syncher.py for real-time synchronization
- WebSocket implementation now holds and sets event loop at startup
- toppers/hakoniwa-ros2pdu v2.1.0 (2025.7.29)
- Added Python language support
- Added feature to auto-generate PDU (Protocol Data Unit) Python classes
- Added numerous libraries, templates, and utilities for PDU read/write and conversion in Python
- Added Hakoniwa service message feature
- Added new message types (hako_srv_msgs) for request and response like ROS Service
- Added new messages: Disturbance (disturbance), DroneStatus (drone state), MonitorCamera (monitor camera)
- Enhanced testing
- Updated documentation
- Refactored and fixed bugs in PDU binary ↔ structure conversion processing
- toppers/hakoniwa-core-cpp-client v2.0.1 (2025.7.29)
- Added disturbance feature
- Added offset settings to Hako monitor camera
- toppers/hakoniwa-drone-core v3.1.9-1 (2025.7.25)
- toppers/hakoniwa-drone-core v3.2.0 (2025.7.29)
- Repository updates and release information
- 2025.6.27
- Repository updates and release information
- toppers/hakoniwa-drone-core v3.1.9 (2025.6.27)
- toppers/hakoniwa-conductor v2.0.0 (2025.6.26)
- Compatible with latest version of Hakoniwa core functionality
- Rebuilt test environment with docker compose
- Maintained README
- Repository updates and release information
- 2025.5.29
- Repository updates and release information
- toppers/hakoniwa-drone-core v3.1.0 (2025.5.29)
- Official support for external environment (wind, temperature)
- Python API integration support for WSL/Docker
- Major update for Unity WebAvatar (hakoniwa-unity-drone version is v3.1.0)
- Camera, LiDAR, collision detection, battery support
- Cargo transport, game controller support
- Bug fixes for Hakoniwa Drone PRO binaries, etc.
- Updated Windows binaries (win.zip)
- Windows Python libraries (python.zip) - Required when integrating with sharesim
- toppers/hakoniwa-drone-core v3.1.0 (2025.5.29)
- Repository updates and release information
- 2025.5.23
- Repository updates and release information
- hakoniwa-drone-core v3.0.1 (2025.5.18)
- Binary packages for Windows / Mac / Linux
- Python library for Windows
- hakoniwa-drone-core v3.0.1 (2025.5.18)
- Repository updates and release information
- 2025.3.29
- Repository updates and release information
- hakoniwa-drone-core v3.0.0 (2025.3.26)
- Released Hakoniwa drone simulator for events at Osaka Expo
- Published user manuals and samples that can be used with/without Hakoniwa features
- Binary packages for Windows / Mac / Linux
- hakoniwa-drone-core v3.0.0 (2025.3.26)
- Repository updates and release information
- 2025.3.11
- Release Updates
- hakoniwa-drone-core v2.0.0 (2025.3.7)
- Sample application for PX4 integration (<os name>-aircraft_service_px4)
- Sample application for Ardupilot integration (<os name>-aircraft_service_ardupilot)
- Sample application for Hakoniwa drone (<os name>-drone_servce_rc)
- Hakoniwa Drone Pro C library (hako_service_c)
- hakoniwa-drone-core v1.0.0 (2025.2.3)
- hakoniwa-sim-csharp v1.0.0 (2025.1.4)
- hakoniwa-pdu-csharp v1.0.0 (2025.1.4)
- hakoniwa-drone-core v2.0.0 (2025.3.7)
- Release Updates
- 2024.12.19
- Release Updates
- hakoniwa-px4sim v2.8.0 (2024.12.14)
- Battery function
- Hakoniwa AR bridge
- Hakoniwa bridge(MAVLINK)
- Tohjinbo 3D Modeling
- hakoniwa-px4sim v2.8.0 (2024.12.14)
- Technical Information (Japances only)
- Our member gave presentations in SI2024.
- Release Updates
- 2024.11.30
- Release Updates
- hakoniwa-px4sim v2.7.1 (2024.11.15)
- Fixed several minor bugs
- hakoniwa-unity-drone-model v2.2.1 (2024.11.4)
- New architecture support for Hakoniwa PDU communication library
- WebGL luggage support
- WebSocket support for QUEST3
- hakoniwa-px4sim v2.7.1 (2024.11.15)
- Release Updates
- 2024.10.31
- Release Updates
- hakoniwa-px4sim v2.7.0 (2024.10.27)
- Support for Windows installer
- Extension of Python API functionality
- Addition of environmental simulation features (e.g., wind effects)
- Web browser support for Hakoniwa drone simulator
- Refactoring of control programs for Python
- Support for AR devices
- Refinement of various manuals
- hakoniwa-unity-drone-model v2.2.0 (2024.10.20)
- For PC application
- For AR (Meta Quest3) application
- hakoniwa-px4sim v2.7.0 (2024.10.27)
- Release Updates
- 2022.06.15
- The English version of this site has been published.