10 June 2017

The Windows Subsystem for Linux (WSL) is a compatibility layer which allows to run a whole bunch of linux binaries natively on Windows 10. With the advent of the Windows 10 Creators Update in March 2017, the WSL was heavily updated and now is able to run ROS lunar. There is just one caveat: In the currently released version (1.13) of ros_comm there is a bug which needs manual patching until the fix is included in an official release.

In this blogpost I will show you how to install WSL, setup ROS, and how to apply the patch to ros_comm in an overlay workspace to get started.

Update to Windows 10 Creators update

The Creators update of Windows 10 needs to be installed for ROS to work. If you are in doubt, which version is installed go to Settings -> System -> About and check that you have at least Version 1703

If you need to update Windows, got to Windows Update and follow the instructions.

Install the WSL and Bash on Windows

To install the Windows Subsystem for Linux and Bash on Windows, follow this guide.

In case you have used the WSL before applying the creators update, you may still have the trusty version (14.04) of Ubuntu for Windows installed. However, you need to upgrade to xenial (16.04). To check which version is actually installed, start an instance of bash and run lsb_release -a. The output should look like

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 16.04.2 LTS
Release:        16.04
Codename:       xenial

If it shows an older version, you have to uninstall and then reinstall bash on windows from the windows command line as follows Warning: This will delete all of your existing data in WSL. Make a backup first

lxrun /uninstall /full /y
lxrun /install

Install ROS

Since WSL is based on ubuntu, you can follow the official ros installation guide for ubuntu by the word.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install -y ros-lunar-desktop-full
sudo rosdep init
rosdep update

If you want to source ros lunar automatically for ever bash session, then

echo "source /opt/ros/lunar/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install wstool

To create an overlay workspace, you also need to install the wstool.

sudo apt-get install -y python-wstool

Create overlay worksape with ros_comm

Now we create an overlay workspace which just includes the patched version of the ros_comm package.

First, create the workspace in some place

mkdir -p ~/overlay_ws/src
cd ~/overlay_ws/src

Next initialize the workspace and include ros_comm

wstool init
wstool set ros_comm --git git://github.com/ros/ros_comm.git
wstool update

Build the workspace

cd ~/overlay_ws

Finally, update the .bashrc file in your home folder to source the overlay workspace

echo "source ~/overlay_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Run a simple test

  1. Start a new bash prompt and run roscore

  2. Start a second bash prompt
  3. Create a new file publish.py with the contents
    #!/usr/bin/env python
    import rospy
    from std_msgs.msg import String
    pub = rospy.Publisher('chatter', String, queue_size=None)
    r = rospy.Rate(1) # 10hz
    while not rospy.is_shutdown():
       pub.publish("hello world")
       print('sending data...')
  4. Run the publisher python publish.py

  5. Start a third bash prompt
  6. Crate a new file subscribe.py with the contents
    #!/usr/bin/env python
    import rospy
    from std_msgs.msg import String
    def callback(data):
        rospy.loginfo("I heard %s",data.data)
    def listener():
        rospy.Subscriber("chatter", String, callback)
        # spin() simply keeps python from exiting until this node is stopped
  7. Run the subscriber python subscribe.py

Install Xming

To run applications with graphical output, you need to install an X Server on Windows. For me, Xming did a great job.

After you have installed Xming, you also need to configure WSL to use it. To do so modify you .bashrc as follows

echo "export DISPLAY=:0" >> ~/.bashrc
source ~/.bashrc

Finally launch the Xming application from the start menu.

Run turtle_sim

The popular turtle_sim tutorial works fine WSL as well.

  1. Make sure you have an X Server installed, configured and running as described above.
  2. Start a new bash prompt and run rosrun turtlesim turtlesim_node.
  3. Start a second bash promt and run rosrun turtlesim turtle_teleop_key. You can control the turtle using the arrow keys

OpenGL indirection

Some places recommend to force indirect rendering using export LIBGL_ALWAYS_INDIRECT=1 for better OpenGL performance on WSL. However, with the version of Xming I tested, it is not possible to launch rviz when this indirection is active, thus my recommendation is to not use OpenGL indirection for the time being.#

D-Bus machine-id missing

On some installations I have seen the error

D-Bus library appears to be incorrectly set up; failed to read machine uuid: UUID file '/etc/machine-id' should contain a hex string of length 32, not length 0, with no other text

To fix it, run

sudo dbus-uuidgen --ensure

Also restart any running roscore afterwards.

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