SITL install missing libraries. --osd parameter in not working with multiple installs. Please help

This is my error (and I cannot find how to install libsfml-dev)

$ -v ArduPlane -f plane-vtail -l 42.221875,-87.907888,0,90 --console --map --osd
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: Starting up at 42.221875,-87.907888,0,90
SIM_VEHICLE: Configure waf
SIM_VEHICLE: “/home/marc/ardupilot/modules/waf/waf-light” “configure” “–board” “sitl” “–enable-sfml” “–sitl-osd”
Setting top to : /home/marc/ardupilot
Setting out to : /home/marc/ardupilot/build
Autoconfiguration : enabled
Setting board to : sitl
Using toolchain : native
Checking for ‘g++’ (C++ compiler) : /usr/bin/g++
Checking for ‘gcc’ (C compiler) : /usr/bin/gcc
Checking for c flags ‘-MMD’ : yes
Checking for cxx flags ‘-MMD’ : yes
Checking for need to link with librt : not necessary
Checking for feenableexcept : no
Checking for library sfml-graphics : not found
Missing SFML libraries - please install libsfml-dev
(complete log in /home/marc/ardupilot/build/config.log)
SIM_VEHICLE: (Configure waf) exited with code 256
SIM_VEHICLE: Killing tasks

It should be sudo apt install libsfml-dev. Which Linux are you running?

Cygwin64 in Win10. I did try that but I will give it another shot. When I figure it out maybe we can add it to the Powershell script used to install all this.

Ahh, there’s your issue. Cygwin doesn’t have libsfml-dev. You’ll likely need to try WSL instead.

WSL?? What is that? Sorry to be stupid.

WSL = Windows Subsystem for Linux. It’s a (Microsoft developed) method to run Linux within Windows via a VM-like environment.

Result is a full Linux environment running within Windows, helping reduce many compatibility issues.

I see. Is this official. I thought I saw a video demonstrating this feature with cygwin64 on the Ardupilot YouTube channel. Maybe I am wrong. I have just got comfortable with Eclipse and Cygwin64.

Both Cygwin and WSL are supported. Some features are not supported in Cygwin, but core build/upload and basic SITL are regularly tested. Most people are moving to WSL, as there’s better compatibility.

WSL instructions are at

Cool. Will give it a whirl.

Ok I have installed WSL and created the environment as per the instructions.

I have no issue with starting a SITL session but now I am getting no map or console (or OSD). I can connect with Mission Planner and everything is working fine.

Here is the interesting part of the screen dump. Any ideas? I highlighted what I think may be the important piece.

Connect tcp: source_system=255
Unable to access the X Display, is $DISPLAY set properly?
Loaded module console
Loaded module map
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:
MAV> Unable to access the X Display, is $DISPLAY set properly?
Unloaded module map

This is indeed the important piece. There’s a few extra steps required to get the GUI working in WSL:

  1. Install a X server such as XMing

  2. You need to edit ~/.bashrc and insert this line:

export DISPLAY=localhost:0.0
  1. Launch the XMing server
  2. Launch WSL

Thank you. That works. Definitely better to be using Ubuntu than Cygwin.

I think that extra step needs to make it into the wiki at some point. Or can be added to the script that does most of the installation/configuration steps?

Now I am very nearly there. I am getting an OSD window but it is blank. The reason is clear --missing fonts–but the solution is not. I searched for a solution on the forums.

xterm: cannot load font “10x20”
xterm: cannot load font “-Misc-Fixed-bold-R---13-120-75-75-C-60-ISO8859-1”
xterm: cannot load font “-Misc-Fixed-medium-R---13-120-75-75-C-120-ISO10646-1”
xterm: cannot load font “-Misc-Fixed-bold-R---13-120-75-75-C-120-ISO10646-1”
xterm: cannot load font “-misc-fixed-medium-r-normal–20-200-75-75-c-100-iso10646-1”

Edit. This is a more general font issue with Xming. I am downloading and installing Xming fonts.

These fonts worked. Finally I have an osd!

Thanks for your help.