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2026-02-09 03:43:10 +00:00

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WSL Setup Guide for UAV-UGV Simulation

This guide walks you through setting up the GPS-denied UAV-UGV simulation on Windows Subsystem for Linux (WSL).

Prerequisites

Windows 10 version 2004+ (Build 19041+) or Windows 11
Administrator access to Windows
At least 16GB RAM (8GB minimum)
50GB free disk space
NVIDIA GPU (optional, for hardware acceleration)

Part 1: Install WSL2 with Ubuntu 22.04

Step 1.1: Enable WSL

Open PowerShell as Administrator and run:

# Enable WSL and Virtual Machine Platform
wsl --install

# Or if already installed, update to WSL2
wsl --set-default-version 2

Restart your computer after this step.

Step 1.2: Install Ubuntu 22.04

# List available distributions
wsl --list --online

# Install Ubuntu 22.04
wsl --install -d Ubuntu-22.04

When prompted, create a username and password for your Ubuntu installation.

Step 1.3: Verify WSL2

wsl --list --verbose

You should see Ubuntu-22.04 with VERSION 2:

  NAME            STATE           VERSION
* Ubuntu-22.04    Running         2

If it shows VERSION 1, upgrade it:

wsl --set-version Ubuntu-22.04 2

Step 1.4: Configure WSL Memory

Create or edit %USERPROFILE%\.wslconfig (Windows path: C:\Users\YourName\.wslconfig):

[wsl2]
# Allocate memory (adjust based on your system)
memory=8GB
processors=4

# Swap file
swap=4GB

# Enable systemd (required for ROS 2)
[boot]
systemd=true

Restart WSL after creating this file:

wsl --shutdown

Part 2: Setup GUI Support for Gazebo

WSL2 supports GUI applications through WSLg (Windows 11) or X11 forwarding (Windows 10).

Option A: WSLg (Windows 11 - Recommended)

WSLg is built-in to Windows 11. No additional setup needed! GUI apps work out of the box.

Verify WSLg is working:

# Inside WSL Ubuntu
sudo apt update
sudo apt install -y x11-apps
xcalc  # Should open a calculator window

Option B: X11 Server (Windows 10)

Install VcXsrv

Download and install VcXsrv
Launch XLaunch with these settings:
- Display: Multiple windows
- Start no client
- Check: Disable access control
- Save configuration for future use

Configure WSL to use X Server

Add to ~/.bashrc in WSL:

# X11 forwarding for WSL1/WSL2 (Windows 10)
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
export LIBGL_ALWAYS_INDIRECT=1

Apply changes:

source ~/.bashrc

Test X11:

sudo apt install -y x11-apps
xcalc  # Should open a calculator

Part 3: Install ROS 2 Humble

Step 3.1: Setup ROS 2 Repository

# Update system
sudo apt update && sudo apt upgrade -y

# Install prerequisites
sudo apt install -y software-properties-common
sudo add-apt-repository universe

# Add ROS 2 GPG key
sudo apt install -y curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
    -o /usr/share/keyrings/ros-archive-keyring.gpg

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

Step 3.2: Install ROS 2 Humble

# Update package list
sudo apt update

# Install ROS 2 Desktop (includes RViz, demos, tutorials)
sudo apt install -y ros-humble-desktop

# Install development tools
sudo apt install -y \
    ros-dev-tools \
    python3-colcon-common-extensions \
    python3-rosdep

Step 3.3: Initialize rosdep

sudo rosdep init
rosdep update

Step 3.4: Setup Environment

Add to ~/.bashrc:

# ROS 2 Humble
source /opt/ros/humble/setup.bash

# Optional: Auto-source workspace
if [ -f ~/ros2_ws/install/setup.bash ]; then
    source ~/ros2_ws/install/setup.bash
fi

Apply changes:

source ~/.bashrc

Step 3.5: Verify ROS 2

ros2 --version
# Should output: ros2 cli version: 0.x.x

# Test with a demo (optional)
ros2 run demo_nodes_cpp talker
# Press Ctrl+C to stop

Part 4: Install Gazebo Classic 11

# Install Gazebo Classic
sudo apt install -y gazebo11 libgazebo11-dev

# Install ROS 2 Gazebo packages
sudo apt install -y \
    ros-humble-gazebo-ros-pkgs \
    ros-humble-gazebo-plugins

Test Gazebo

gazebo --verbose

A Gazebo window should open. Note: First launch may be slow.

Common Issues:

Black screen: Wait 30-60 seconds for Gazebo to fully initialize
Slow performance: Use software rendering (see below)
Crashes: Check GPU drivers and memory allocation in .wslconfig

Performance Tweaks

If Gazebo is slow, force software rendering:

export LIBGL_ALWAYS_SOFTWARE=1
gazebo

Add to ~/.bashrc to make permanent:

echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc

Part 5: Install ArduPilot SITL

Step 5.1: Install Dependencies

sudo apt install -y \
    git \
    gitk \
    git-gui \
    python3-dev \
    python3-opencv \
    python3-wxgtk4.0 \
    python3-pip \
    python3-matplotlib \
    python3-lxml \
    python3-pygame \
    libxml2-dev \
    libxslt1-dev \
    python3-scipy

Step 5.2: Clone ArduPilot

cd ~
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive

Step 5.3: Install ArduPilot Prerequisites

cd ~/ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y

Reload your shell:

. ~/.profile

Step 5.4: Build ArduCopter SITL

cd ~/ardupilot
./waf configure --board sitl
./waf copter

Step 5.5: Test ArduPilot SITL

cd ~/ardupilot/ArduCopter
sim_vehicle.py --console --map

You should see MAVProxy console and a map window. Press Ctrl+C to exit.

Part 6: Install ardupilot_gazebo Plugin

# Clone the plugin
cd ~
git clone https://github.com/ArduPilot/ardupilot_gazebo.git
cd ardupilot_gazebo

# Build
mkdir build && cd build
cmake ..
make -j4
sudo make install

Configure Gazebo Paths

Add to ~/.bashrc:

# ArduPilot Gazebo
export GAZEBO_MODEL_PATH=$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
export GAZEBO_RESOURCE_PATH=$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH

Apply changes:

source ~/.bashrc

Part 7: Install MAVROS

sudo apt install -y \
    ros-humble-mavros \
    ros-humble-mavros-extras

Install GeographicLib Datasets

sudo /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh

Part 8: Setup UAV-UGV Simulation Project

Step 8.1: Create ROS 2 Workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Step 8.2: Clone Project

# Replace with your repository URL
git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
cd uav_ugv_simulation

Step 8.3: Install Python Dependencies

# Install system Python packages
sudo apt install -y \
    python3-pip \
    python3-venv \
    python3-opencv \
    libopencv-dev

# Install additional ROS packages
sudo apt install -y \
    ros-humble-cv-bridge \
    ros-humble-image-transport \
    ros-humble-tf2 \
    ros-humble-tf2-ros \
    ros-humble-tf2-geometry-msgs

# Create virtual environment
python3 -m venv venv
source venv/bin/activate

# Install Python packages
pip install --upgrade pip
pip install -r requirements.txt

Step 8.4: Build ROS Package

cd ~/ros2_ws
colcon build --packages-select uav_ugv_simulation --symlink-install
source install/setup.bash

Step 8.5: Make Scripts Executable

cd ~/ros2_ws/src/uav_ugv_simulation
chmod +x scripts/*.sh
chmod +x setup.sh
chmod +x activate_venv.sh

Part 9: Test the Installation

Test 1: Gazebo

gazebo --verbose

Test 2: ROS 2

ros2 topic list

Test 3: ArduPilot SITL

cd ~/ardupilot/ArduCopter
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map

Test 4: Complete Simulation (Final Test)

Terminal 1 - Gazebo:

cd ~/ros2_ws/src/uav_ugv_simulation
source activate_venv.sh
gazebo --verbose worlds/empty_custom.world

Terminal 2 - ArduPilot:

cd ~/ardupilot/ArduCopter
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map -I0

Terminal 3 - MAVROS & Nodes:

cd ~/ros2_ws/src/uav_ugv_simulation
source activate_venv.sh
ros2 launch uav_ugv_simulation uav_only.launch.py

WSL-Specific Issues & Solutions

Issue 1: "Cannot open display"

Solution:

Windows 10:

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

Windows 11 (WSLg):

export DISPLAY=:0

Issue 2: Gazebo Black Screen

Solutions:

Wait 30-60 seconds for initialization
Use software rendering:
```
export LIBGL_ALWAYS_SOFTWARE=1
```
Increase WSL memory in .wslconfig

Issue 3: GPU Acceleration Not Working

For NVIDIA GPUs in WSL2:

Install NVIDIA drivers on Windows (not in WSL)

Install CUDA in WSL:

sudo apt install -y nvidia-cuda-toolkit

Verify:
```
nvidia-smi
```

Issue 4: "Permission denied" on Serial Ports

sudo usermod -aG dialout $USER
# Logout and login again

Issue 5: Slow Performance

Increase memory in .wslconfig
Close unnecessary Windows applications
Use software rendering for Gazebo
Reduce Gazebo real-time factor:
```
gazebo --verbose -u  # Start paused
```

Issue 6: Network Issues (MAVROS connection)

Ensure localhost is working:

# Test connection
nc -zv 127.0.0.1 14550

# If fails, check WSL networking
cat /etc/resolv.conf

Quick Start After Installation

# 1. Navigate to project
cd ~/ros2_ws/src/uav_ugv_simulation

# 2. Activate environment
source activate_venv.sh

# 3. Run simulation
bash scripts/run_simulation.sh

Performance Optimization for WSL

1. Increase WSL Resources

Edit C:\Users\YourName\.wslconfig:

[wsl2]
memory=12GB
processors=6
swap=8GB
localhostForwarding=true

2. Enable Systemd

In .wslconfig:

[boot]
systemd=true

3. Disable Windows Defender for WSL

Add exclusion in Windows Security:

Path: C:\Users\YourName\AppData\Local\Packages\CanonicalGroupLimited*

4. Use Fast SSD

Move WSL to SSD if on HDD:

wsl --export Ubuntu-22.04 ubuntu-backup.tar
wsl --unregister Ubuntu-22.04
wsl --import Ubuntu-22.04 D:\WSL\Ubuntu ubuntu-backup.tar

Useful WSL Commands

# List WSL distributions
wsl --list --verbose

# Shutdown WSL (free resources)
wsl --shutdown

# Access WSL files from Windows
\\wsl$\Ubuntu-22.04\home\youruser

# Run Linux command from Windows
wsl ls -la

# Set default WSL distribution
wsl --set-default Ubuntu-22.04

Troubleshooting Resources

WSL Issues: https://github.com/microsoft/WSL/issues
Gazebo WSL: https://classic.gazebosim.org/tutorials?tut=wsl
ROS 2 WSL: https://docs.ros.org/en/humble/How-To-Guides/Installing-on-Raspberry-Pi.html
ArduPilot Forums: https://discuss.ardupilot.org/

Next Steps

After successful installation:

Read the Usage Guide
Understand GPS-Denied Navigation
Review Architecture
Try example missions in docs/usage.md

Known Limitations in WSL

Performance: ~70% of native Linux performance
GPU: Limited DirectX translation in WSLg
Real-time: WSL2 is not real-time capable
USB: Direct USB forwarding requires usbipd-win
GUI: Some OpenGL features may not work perfectly

For production work, consider dual-boot Ubuntu 22.04 or a native Linux installation.

12 KiB Raw Blame History

WSL Setup Guide for UAV-UGV Simulation

Prerequisites

Part 1: Install WSL2 with Ubuntu 22.04

Step 1.1: Enable WSL

Step 1.2: Install Ubuntu 22.04

Step 1.3: Verify WSL2

Step 1.4: Configure WSL Memory

Part 2: Setup GUI Support for Gazebo

Option A: WSLg (Windows 11 - Recommended)

Option B: X11 Server (Windows 10)

Install VcXsrv

Configure WSL to use X Server

Part 3: Install ROS 2 Humble

Step 3.1: Setup ROS 2 Repository

Step 3.2: Install ROS 2 Humble

Step 3.3: Initialize rosdep

Step 3.4: Setup Environment

Step 3.5: Verify ROS 2

Part 4: Install Gazebo Classic 11

Test Gazebo

Performance Tweaks

Part 5: Install ArduPilot SITL

Step 5.1: Install Dependencies

Step 5.2: Clone ArduPilot

Step 5.3: Install ArduPilot Prerequisites

Step 5.4: Build ArduCopter SITL

Step 5.5: Test ArduPilot SITL

Part 6: Install ardupilot_gazebo Plugin

Configure Gazebo Paths

Part 7: Install MAVROS

Install GeographicLib Datasets

Part 8: Setup UAV-UGV Simulation Project

Step 8.1: Create ROS 2 Workspace

Step 8.2: Clone Project

Step 8.3: Install Python Dependencies

Step 8.4: Build ROS Package

Step 8.5: Make Scripts Executable

Part 9: Test the Installation

Test 1: Gazebo

Test 2: ROS 2

Test 3: ArduPilot SITL

Test 4: Complete Simulation (Final Test)

WSL-Specific Issues & Solutions

Issue 1: "Cannot open display"

Issue 2: Gazebo Black Screen

Issue 3: GPU Acceleration Not Working

Issue 4: "Permission denied" on Serial Ports

Issue 5: Slow Performance

Issue 6: Network Issues (MAVROS connection)

Quick Start After Installation

Performance Optimization for WSL

1. Increase WSL Resources

2. Enable Systemd

3. Disable Windows Defender for WSL

4. Use Fast SSD

Useful WSL Commands

Troubleshooting Resources

Next Steps

Known Limitations in WSL

12 KiB

Raw Blame History