Document how to use the device on WSL

[S-Dafarra]

Recently I wanted to do a quick test with the realsense on Windows, so I tried to install the device via conda, but sadly it is not available on Windows. So I gave a shot to WSL. I managed to install the device easily with conda, but no realsense was found. I finally managed to run the device, so I thought to share the instructions here. Let me know if you want me to copy them in another place.

Related issue: IntelRealSense/librealsense#10506

First, you need to allow WSL to access the USB devices (source https://learn.microsoft.com/en-gb/windows/wsl/connect-usb)

Download usbipd from https://github.com/dorssel/usbipd-win/releases and install it. Then, from a terminal (either cmd or PowerShell), run

usbipd list

This should output something like.

Connected:
BUSID  VID:PID    DEVICE                                                        STATE
1-10   27c6:533c  Goodix fingerprint                                            Not shared
1-11   0c45:6a0c  Integrated Webcam                                             Not shared
1-14   8087:0026  Intel(R) Wireless Bluetooth(R)                                Not shared
1-17   8086:0b3a  Intel(R) RealSense(TM) Depth Camera 435i Depth, Intel(R) ...  Not shared
3-1    0bda:8153  Realtek USB GbE Family Controller #2                          Not shared
4-6    413c:c010  Dell DA310                                                    Not shared
5-1    0451:3421  Texas Instruments USB Billboard Device, USB Input Device      Not shared
5-2    413c:301a  USB Input Device                                              Not shared
5-3    413c:2113  USB Input Device                                              Not shared
5-4    0451:3410  TUSB3410 EECode Ser                                           Not shared

Persisted:
GUID                                  DEVICE

usbipd: warning: Unknown USB filter 'usbfilter' may be incompatible with this software; 'bind --force' may be required.

Then, it is necessary to bind the realsense. With administrative privileges, run the following

 usbipd bind --busid 1-17

Note that 1-17 is the value that you see under BUSID. Now the output of usbipd list should look like

Connected:
BUSID  VID:PID    DEVICE                                                        STATE
1-10   27c6:533c  Goodix fingerprint                                            Not shared
1-11   0c45:6a0c  Integrated Webcam                                             Not shared
1-14   8087:0026  Intel(R) Wireless Bluetooth(R)                                Not shared
1-17   8086:0b3a  Intel(R) RealSense(TM) Depth Camera 435i Depth, Intel(R) ...  Shared
3-1    0bda:8153  Realtek USB GbE Family Controller #2                          Not shared
4-6    413c:c010  Dell DA310                                                    Not shared
5-1    0451:3421  Texas Instruments USB Billboard Device, USB Input Device      Not shared
5-2    413c:301a  USB Input Device                                              Not shared
5-3    413c:2113  USB Input Device                                              Not shared
5-4    0451:3410  TUSB3410 EECode Ser                                           Not shared

Persisted:
GUID                                  DEVICE

usbipd: warning: Unknown USB filter 'usbfilter' may be incompatible with this software; 'bind --force' may be required.

Now, to allow WSL accessing the USB run the following command (make sure to have WSL active at this stage, for example by opening a WSL terminal)

usbipd attach --wsl --busid 1-17

Now on WSL, the output of lsusb is:

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 002 Device 003: ID 8086:0b3a Intel Corp. Intel(R) RealSense(TM) Depth Camera 435i

In order to use the device, it is still necessary to use the realsense udev rules.

Download the file https://github.com/IntelRealSense/librealsense/blob/master/config/99-realsense-libusb.rules.

Then, in WSL, run the following from the folder you downloaded the 99-realsense-libusb.rules files

sudo cp 99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

After these steps, I was able to run the yarp-device-realsense2 device installed from conda on WSL.

cc @traversaro @Nicogene @martinaxgloria