Instruction for Windows users

Use WSL - Windows Subsystem for Linux

1. You will need to be on Windows 11 Build 22000 or later.
2. Install driver for vGPU to run Linux GUI apps
   • Intel GPU driver for WSL
   • AMD GPU driver for WSL
   • NVIDIA GPU driver for WSL
3. Install WSL. Make sure you installed WSL1, because in that version your network adapter is bridged and WSL is in the same local network as your robot. WSL2 on the contrary uses NAT. Open Microsoft Store and install Ubuntu 20.04.
4. Download and install VcXsrv Windows X Server. Open and set:
   • check multiple windows and set display number to 0;
   • in next window check start no client;
   • finally check all extra settings;
   • enable Outgoing Connection from Windows Firewall
5. In WSL run

export DISPLAY=127.0.0.1:0.0 #  you can also add it to ~/.bashrc.

6. Create a .xsession file in the user home directory e.g.

echo xfce4-session > ~/.xsession

7. Open ubuntu, update and test

sudo apt update
sudo apt upgrade
sudo apt install x11-apps -y # install for test purposes simple apps
xcalc # if it has some issues with display, set $DISPLAY=:0 and reload WSL

Install ROS Noetic on Windows

In order to use Tensorflow with GPU in ROS I had to install ROS also on Windows, because it cannot be installed on WSL1:(

1. Install ROS Noetic

2. Install Ninja and add its installation folder to the PATH