How to connect Sim running in Windows 11 to ROS2 in WLS2?

Hello, I am a ROS newbie. I have followed the tutorial to install Sim-WorkspacesROS2.
What else do I need to set up in Windows to bridge to ROS2 in WLS2?
For example, I need to set the following content in “Extra Args”.


I also have a doubt here, what should I enter to replace the path “<path_to_ros2_ws>/fastdds.xml” in Windows?

@Gourd i think this may be relevant -

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Isaac SIM supports ROS2 in Windows; you don’t need to install your ROS2 environment in Windows or WSL.

To support ROS2 in Win10/11, you need to run bat file directly; instead of launch from Omniverse Launcher

# assume your Isaac SIM here
> set ISAAC_PATH=C:\Users\%USERNAME%\AppData\Local\ov\pkg\isaac_sim-2023.1.1

# set ROS2 environments
> set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
> set PATH=%PATH%;%ISAAC_PATH%\exts\omni.isaac.ros2_bridge\humble\lib

# Run your python
> %ISAAC_PATH%\python.bat -X utf8 your_python.py

@Simplychenable Thanks for your answer, but I saw that the answer refers to starting Sim in WSL, but my Sim is in Windows.
I don’t quite believe this answer, and the time of this answer is 2022 or 2023

@jaohsu Thanks for your answer, but I now want to try it in WSL.

@Simplychenable Can you see this reply? He seems to mean that it can be implemented in WSL, right?
https://forums.developer.nvidia.com/t/running-the-new-isaac-sim-ros-ros2-bridge-isaac-sim-2023-1-0-release-onwards/270692/5?u=gourd