环境搭建在WSL2中安装ROS2 HumbleUbuntu-Install-Debs配置WSL2镜像模式mirrored打开 Windows 文件资源管理器。在地址栏输入 %UserProfile% 并回车这会打开你的用户文件夹例如 C:\Users\你的用户名在此文件夹下新建或编辑一个名为 .wslconfig 的文件。将以下内容粘贴或添加到文件中[wsl2] networkingModemirrored # 可选但强烈推荐同时开启以下设置以获得更完整的体验 dnsTunnelingtrue # 让 WSL2 使用 Windows 的 DNS 解析[reference:11] firewalltrue # 让 WSL2 遵循 Windows 防火墙规则[reference:12] autoProxytrue # 让 WSL2 自动同步 Windows 的系统代理设置[reference:13][reference:14] [experimental] # 以下为进阶优化选项可根据需要添加 hostAddressLoopbacktrue # 允许容器等通过主机 IP 回环连接[reference:15] # ignoredPorts3000,9000 # 示例让 Linux 下的这些端口不绑定到 Windows[reference:16]配置fastdds_wsl2_profile?xml version1.0 encodingUTF-8 ?!-- Fast DDS profile for Isaac Sim (Windows) - ROS 2 (WSL2). Disables multicast discovery and uses localhost unicast peers. Use on BOTH sides via FASTRTPS_DEFAULT_PROFILES_FILE. Mirrored mode (same LAN IP on Windows and WSL): use your WLAN IP, e.g. 192.168.31.9. Update both addresses below if your IP changes (check: ip -4 addr show eth2 in WSL). --profilesxmlnshttp://www.eprosima.com/XMLSchemas/fastRTPS_Profilestransport_descriptorstransport_descriptortransport_idCustomUdpTransport/transport_idtypeUDPv4/type/transport_descriptor/transport_descriptorsparticipantprofile_namedefault_participant_profileis_default_profiletruertpsuserTransportstransport_idCustomUdpTransport/transport_id/userTransportsuseBuiltinTransportsfalse/useBuiltinTransportsbuiltinmetatrafficUnicastLocatorListlocatorudpv4address192.168.31.9/address/udpv4/locator/metatrafficUnicastLocatorListinitialPeersListlocatorudpv4address192.168.31.9/address/udpv4/locator/initialPeersList/builtin/rtps/participant/profiles重新启动WSL2source/opt/ros/humble/setup.bashexportRMW_IMPLEMENTATIONrmw_fastrtps_cppexportROS_DOMAIN_ID0exportFASTRTPS_DEFAULT_PROFILES_FILE/mnt/d/robot/isaac-sim-standalone-6.0.1-windows-x86_64/docs/fastdds_wsl2_profile.xml# 清 daemon 缓存后重试ros2 daemon stop ros2 daemon start ros2 topic list ros2 topic list --no-daemonIssac Sim环境搭建启动Issac Sim$ .\isaac-sim.batenable ROS2 bridge创建机器人点击playROS2中控制机器人$ ros2 topic list --no-daemon sequence size exceeds remaining buffer /chassis/odom /clock /cmd_vel /left_stereo_imu/imu /parameter_events /rosout /tf控制机器人原地转圈$ ros2 topic pub /cmd_vel geometry_msgs/msg/Twist{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.5}}-r10Nova Carter
