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Windows 11 + WSL 2 made ROS development easy on Windows Platform, this is a an attempt to install ROS 2 (Iron), Rviz, Gazebo on Windows using WSL2

1. Install WSL2

Follow instructions in this official link.

2. Install XLaunch

Download XLaunch using this link.

Set it up like this

• Select any window configuration
• Set display number to 0
• 
• Uncheck Native opnegl
• Check Disable access control
• 

3. Install Ubuntu 22.04 LTS

Available on Microsoft Store Set up a username and password.

2.1 Set the following environment variables:

export GAZEBO_IP=127.0.0.1

export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0

export LIBGL_ALWAYS_INDIRECT=0

2.2 ROS Installation

Go to ROS Installation Documentation for detailed instructions or follow the steps below directly.

2.2.1 Enable required repositories

sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

2.2.2 Install development tools

sudo apt update && sudo apt install ros-dev-tools

2.2.3 Install ROS2

sudo apt update

sudo apt upgrade

sudo apt install ros-iron-desktop

sudo apt install ros-iron-ros-base

2.2.4 Set up the environment:

source /opt/ros/iron/setup.bash

2.3 Install Gazebo

Just following single command works

curl -sSL http://get.gazebosim.org | sh

For more details official Gazebo tutorial

2.3.1 Run Gazebo

gazebo

3. Additional Steps or Notes