Gazebo fails to load in a WSL environment

[tpoignonec]

(NB. solved at time of writing, just for achiving puroposes)

Issue:

Gazebo looks for a sound card driver, which is not (at least on my machine) configured.

ros2 launch iiwa_bringup iiwa.launch.py use_sim:=true
   ...
[spawn_entity.py-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1686844024.666744458] [spawn_entity]: Waiting for entity xml on /robot_description
[spawn_entity.py-3] [INFO] [1686844024.678572497] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1686844024.678748899] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-3] [ERROR] [1686844055.327565612] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?
[spawn_entity.py-3] [ERROR] [1686844055.327841288] [spawn_entity]: Spawn service failed. Exiting.
[ERROR] [spawn_entity.py-3]: process has died [pid 16870, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic /robot_description -entity /iiwa14 --ros-args'].
[INFO] [spawner-5]: process started with pid [17015]
[spawner-5] [INFO] [1686844057.669768321] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[gzserver-1] ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
[gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
[gzserver-1] ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
[gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
[gzserver-1] ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name
[gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
[gzserver-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
[gzserver-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default
[gzserver-1] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
[spawner-5] [INFO] [1686844059.705863684] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686844061.719889214] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686844063.733643022] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [ERROR] [1686844065.744663933] [spawner_joint_state_broadcaster]: Controller manager not available
   ...

Ideal solution:

Configure Gazebo so it doesn't look for this sound card.

Current workaround:

Configure a sound card with pulseaudio.
See microsoft/wslg#634, microsoft/wslg#864, microsoft/WSL#5816 for discussions on this issue or similar ones.

Since I tried a few things, the following procedure could probably be simplified (i.e., remove unnecessary steps...).
But this worked :

sudo apt install libpulse-dev pulseaudio  pulseaudio-utils apulse 
sudo apt install libasound2-plugins 

Create a ~/.asoundrc file :

pcm.default pulse
ctl.default pulse

and

systemctl --user restart pulseaudio

Then reboot WSL (wsl --shutdown).