一、安装VcXsrv软件
https://sourceforge.net/projects/vcxsrv/

二、WSL2安装Ubuntu20.04
三、更换清华源
https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bat

四、更新Ubuntu系统
sudo apt-get update sudo apt-get upgrade

五、修改wsl安装路径下的库为链接
https://github.com/microsoft/WSL/issues/5663

六、安装ROS(ros2后续坑太多, 最好ros1)
ros1
https://blog.csdn.net/PlutooRx/article/details/127558240
https://www.cnblogs.com/helong-123/archive/2022/06/09/16358341.html
sudo apt install ros-noetic-desktop-full
解决小乌龟打开问题
https://blog.csdn.net/hypc9709/article/details/124238176
小乌龟测试(ros1)

终端一

    roscore

终端二

    rosrun turtlesim turtlesim_node

终端三

    rosrun turtlesim  turtle_teleop_key
    小乌龟测试(ros2)

测试通信

    ros2 run demo_nodes_cpp talker
    ros2 run demo_nodes_py listener

终端一

    ros2 run turtlesim turtlesim_node

终端二

    ros2 run turtlesim turtle_teleop_key

5、安装三方库
sudo apt-get install cmake -------CMAKE安装
sudo apt-get install build-essential -------GCC/G++安装
sudo apt-get install libboost-all-dev -------Boost安装
sudo apt-get install libtbb-dev -------TBB安装
6、安装geographiclib
https://blog.csdn.net/sinat_25923849/article/details/115625911
7、安装gtsam gtsam-4.0.3
8、安装pcl
https://zhuanlan.zhihu.com/p/354611858
https://blog.csdn.net/weixin_41836738/article/details/121451965
9、安装Eigen
修改pcl中调用Eigen::index的错误
Jetson Xavier NX 、AGX Xavier