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Finally, I found the issue (and it was much more simple than expected...). ROS Noetic is very sensible to the "/" before a frame_id. So it worked on ROS Kinetic and Melodic, but not on Noetic. And there is no relation with WSL, and the issue was the same on a native Ubuntu.

Removing the "/" on frame_idparameter on my launch file solved the issue!

Hope this could help someone in the future.