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WSL2 部署 ROS2 Jazzy + Issac Sim 5.1.0
开发环境配置
参考：Isaac Sim 5.1.0 on Windows + ROS2 Jazzy on WSL2 Ubuntu
Nvidia 驱动
-
在
https://www.nvidia.com/en-us/drivers/上找到对应的驱动版本 -
验证安装结果：
nvidia-smiWSL2 + Ubuntu-24.04
# 更新 wsl 版本wsl --update# 如果无法从 Microsoft Store 安装可以考虑从 Github 上下载wsl --update --web-download# 实在不行可以从 https://github.com/microsoft/WSL/releases 获取安装包
# 安装 Ubuntu-24.04wsl --install -d Ubuntu-24.04# 如果不行可以离线安装 https://documentation.ubuntu.com/wsl/latest/howto/install-ubuntu-wsl2/#
# 设置 wsl 默认版本wsl --set-default-version 2
# 验证安装结果wsl --list --verbosesfc /SCANNOWDISM /Online /Cleanup-Image /ScanHealthDISM /Online /Cleanup-Image /CheckHealth# 这里指令需要的时间比较长，若是没有报错，建议多等待一会。DISM /Online /Cleanup-image /RestoreHealth# 重启后再输入如下指令Get-AppxPackage -AllUsers| Foreach{Add-AppxPackage -DisableDevelopmentMode -Register "$($_.InstallLocation)\AppXManifest.xml"}sfc /SCANNOWwsreset安装 ROS2 Jazzy
区域设置
locale # check for UTF-8
sudo apt update && sudo apt install localessudo locale-gen en_US en_US.UTF-8sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8export LANG=en_US.UTF-8
locale # verify settings启用所需存储库
sudo apt install software-properties-commonsudo add-apt-repository universesudo apt update && sudo apt install curl -yexport ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"sudo dpkg -i /tmp/ros2-apt-source.debsudo apt update && sudo apt install ros-dev-tools安装 Install ROS 2
sudo apt updatesudo apt upgradesudo apt install ros-jazzy-desktopsource /opt/ros/jazzy/setup.bash WSL2 部署 ROS2 Jazzy + Issac Sim 5.1.0
https://fuwari.vercel.app/posts/运维/wsl2-部署-ros2-jazzy--issac-sim-510/