Micro-ros-Agent and esp32 ( WSL2 setup )

[JoelsonCRJ]

Issue template

• Hardware description: Dell Inspiron 15 (Ubuntu 20.04 wsl2)
• RTOS: ESP32 Node MCU
• Installation type: micro_ros_setup
• Version or commit hash: foxy

Steps to reproduce the issue

• Set the micro-ros credentials through the command "idf.py menuconfig";
• Compile and flash the INT32_SUB_PUB example on esp32;

In the Ubuntu 20.04 wsl2 Host machine:

• Windows 11 side:

• Open the windows power shell as admin user and type: "netsh interface portproxy add v4tov4 listenport=8888 listenaddress=0.0.0.0 connectport=8888 connectaddress=<wsl2_ip_address>"
• Go to the firewall and create a new inbound rule for port 8888 ;

• Ubuntu 20.04 wsl2 side:

• install the micro-ROS package and dependencies following this tutorial: https://micro.ros.org/docs/tutorials/core/first_application_linux/
• run the micro_ros_agent: "ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888"

Expected behavior

I was expecting the same behavior when use a native linux machine: the esp32 finding the ros agent and publishing messages over ros2.

Actual behavior

Esp32 tries to connect to the ros agent but it is not finding it and eventually i get this message on the esp32 monitor: "Failed status on line 57: 1. Aborting".

Additional information

[Sebski123]

Currently netsh portproxy doesn't support UDP which is used for microROS agent communication. This is an active issue in the WSL repo: https://github.com/microsoft/WSL/issues/4150

My current workaround is to have the agent running in a separate Linux VM (VirtualBox) using a bridged network adapter