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WSL and X-Server

A component that will handle display output from wsl to windows.

  1. Install VcXsrv Windows X Server

  2. Launch VcXsrv through XLaunch with the following commands
    VcXsr settings: display
    VcXsr settings: client startup
    VcXsr settings: extra settings

  3. Install xubuntu-desktop to suppress window manager warnings

    sudo apt install xubuntu-desktop

  4. Set env DISPLAY

    Two option, go with what works for you

    # Option 1 - Gazebo wants this for my installation
export DISPLAY="127.0.0.1:0"

# Option 2 - Did not work for my Gazebo installation
export DISPLAY="localhost:0"

# Avoid
# export DISPLAY=":0"
# (Note from the WSL devs): "means X11 over AF_UNIX on /tmp/.X11-unix/X0, not AF_INET over localhost:6000. This will cause problems in some scenarios."

    Add your chosen option to one of your shell session scripts (for example .bashrc or .zshrc) so it will be set every time you start a new session.

    Example: My setting in .zshrc is

    # X-Server settings
export DISPLAY="127.0.0.1:0"

  5. Install mesa-utils to verify 3d acceleration

    sudo apt install mesa-utils

  6. Run glxgears to verify 3d acceleration

    glxgears

    Expected output is a window with some animated gears.