gz sim not available after installing Gazebo Harmonic on Ubuntu 24.04

[anora8]

Hi,
I am trying to install and use Gazebo Harmonic on Ubuntu 24.04 within WSL2 (Ubuntu 24.04). I followed the official installation guide exactly:

Official installation instructions for Ubuntu
The installation completed successfully, and the gz command is available, but gz sim does not work.

Steps to reproduce the issue:
I installed Gazebo Harmonic using the following commands:

sudo apt-get update
sudo apt-get install curl lsb-release gnupg
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic
After installation, I checked the available commands with:

gz --commands
The output was:

sdf
I expected to see sim, but it is missing.

I tried running:

gz sim shapes.sdf
But I only get the general gz help message, with no specific errors.

I verified the installed packages:

apt-cache depends gz-harmonic
It confirms that gz-sim8-cli is installed.

I checked the files included in the gz-sim8-cli package:

dpkg -L gz-sim8-cli
The output only shows Ruby and YAML files, but no executable .so files.

I tried manually setting GZ_CLI_PLUGIN_PATH:

export GZ_CLI_PLUGIN_PATH=/usr/share/gz:/usr/lib/ruby/gz
gz --commands
The result remains the same: only sdf is available.

Environment:
OS: Ubuntu 24.04 on WSL2
Gazebo Harmonic Version: 1.0.0-1~noble
ROS2 Version: Jazzy
Questions:
Are there any additional steps required to enable the gz sim command?
Could this be an issue with the packages on Ubuntu 24.04?
Is there a way to force Gazebo to recognize sim as a valid command?
Thanks in advance for your support!

[matiasg]

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