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Just a note: one serious limitation I've encountered is that linux running under WSL2 (or WSL1 I believe) is unable to access USB. This was a show stopper for firmware development for me.

The solution seems to be uh, patch the kernel? https://github.com/jovton/USB-Storage-on-WSL2

This doesn’t answer your question, but it appears ROS can work with WSL.

https://jack-kawell.com/2020/06/12/ros-wsl2/

Yes for sure, but there’s just less friction when running it on native Ubuntu. Especially with GUI applications with 3D acceleration, think rViz showing large 3D maps.

https://github.com/linux-surface/linux-surface