# ROS2 Configuration for Gazebo MCP Server
#
# This file configures ROS2-specific settings including node configuration,
# QoS policies, topic names, and service endpoints.
# ROS2 node configuration
node:
# Node name (must be unique in the ROS2 network)
name: "gazebo_mcp_bridge"
# ROS2 namespace for this node
namespace: "/gazebo_mcp"
# Node initialization timeout (seconds)
init_timeout: 10.0
# Spin rate for executor (Hz)
spin_rate: 100
# Use multi-threaded executor
multi_threaded: true
executor_threads: 4
# ROS2 domain configuration
domain:
# ROS2 domain ID (0-232)
# Use different domains to isolate ROS2 networks
domain_id: 0
# Enable localhost-only communication
localhost_only: false
# Quality of Service (QoS) profiles
qos:
# Default QoS profile for most operations
default:
reliability: "reliable" # Options: "reliable", "best_effort"
durability: "volatile" # Options: "volatile", "transient_local"
history: "keep_last" # Options: "keep_last", "keep_all"
depth: 10 # Queue depth for keep_last
# QoS for sensor data subscriptions
sensor_data:
reliability: "best_effort" # Sensors generate data frequently
durability: "volatile"
history: "keep_last"
depth: 5 # Lower depth for high-frequency data
# QoS for service calls
services:
reliability: "reliable" # Services must be reliable
durability: "volatile"
history: "keep_last"
depth: 10
# QoS for robot control commands
control:
reliability: "reliable" # Control commands must arrive
durability: "volatile"
history: "keep_last"
depth: 10
# QoS for system state information
system_state:
reliability: "reliable"
durability: "transient_local" # Keep last state for late joiners
history: "keep_last"
depth: 1
# Topic names and remapping
topics:
# Simulation control topics
clock: "/clock"
simulation_state: "/gazebo/simulation_state"
# Model state topics (templates, {model_name} will be replaced)
model_states: "/gazebo/model_states"
joint_states: "/{model_name}/joint_states"
# Robot command topics (templates)
cmd_vel: "/{model_name}/cmd_vel"
cmd_joint: "/{model_name}/cmd_joint"
# Sensor topics (templates)
camera_rgb: "/{model_name}/camera/image_raw"
camera_depth: "/{model_name}/camera/depth/image_raw"
camera_info: "/{model_name}/camera/camera_info"
lidar_scan: "/{model_name}/scan"
lidar_points: "/{model_name}/points"
imu: "/{model_name}/imu"
gps: "/{model_name}/gps/fix"
odom: "/{model_name}/odom"
# Service names and endpoints
services:
# Gazebo simulation services
spawn_entity: "/gazebo/spawn_entity"
delete_entity: "/gazebo/delete_entity"
get_entity_state: "/gazebo/get_entity_state"
set_entity_state: "/gazebo/set_entity_state"
pause_physics: "/gazebo/pause_physics"
unpause_physics: "/gazebo/unpause_physics"
reset_simulation: "/gazebo/reset_simulation"
reset_world: "/gazebo/reset_world"
# Link state services
get_link_state: "/gazebo/get_link_state"
set_link_state: "/gazebo/set_link_state"
# Joint control services
get_joint_properties: "/gazebo/get_joint_properties"
set_joint_properties: "/gazebo/set_joint_properties"
# Physics services
get_physics_properties: "/gazebo/get_physics_properties"
set_physics_properties: "/gazebo/set_physics_properties"
# Model services
get_model_list: "/gazebo/get_model_list"
get_model_properties: "/gazebo/get_model_properties"
set_model_configuration: "/gazebo/set_model_configuration"
# World services
get_world_properties: "/gazebo/get_world_properties"
set_world_properties: "/gazebo/set_world_properties"
# Force/torque application
apply_body_wrench: "/gazebo/apply_body_wrench"
apply_joint_effort: "/gazebo/apply_joint_effort"
# Message type mappings
message_types:
# Standard ROS2 message types used
twist: "geometry_msgs/msg/Twist"
pose: "geometry_msgs/msg/Pose"
pose_stamped: "geometry_msgs/msg/PoseStamped"
point: "geometry_msgs/msg/Point"
quaternion: "geometry_msgs/msg/Quaternion"
vector3: "geometry_msgs/msg/Vector3"
wrench: "geometry_msgs/msg/Wrench"
# Sensor message types
image: "sensor_msgs/msg/Image"
camera_info: "sensor_msgs/msg/CameraInfo"
laser_scan: "sensor_msgs/msg/LaserScan"
point_cloud2: "sensor_msgs/msg/PointCloud2"
imu: "sensor_msgs/msg/Imu"
nav_sat_fix: "sensor_msgs/msg/NavSatFix"
joint_state: "sensor_msgs/msg/JointState"
# Gazebo-specific message types
model_states: "gazebo_msgs/msg/ModelStates"
link_states: "gazebo_msgs/msg/LinkStates"
contact_state: "gazebo_msgs/msg/ContactState"
# TurtleBot3 specific configuration
turtlebot3:
# Default TurtleBot3 variant
default_variant: "burger" # Options: "burger", "waffle", "waffle_pi"
# Model file paths (relative to TurtleBot3 package)
models:
burger:
urdf: "model://turtlebot3_burger/model.sdf"
description: "TurtleBot3 Burger - Basic model with LDS-01 LiDAR"
waffle:
urdf: "model://turtlebot3_waffle/model.sdf"
description: "TurtleBot3 Waffle - Larger with Intel RealSense camera"
waffle_pi:
urdf: "model://turtlebot3_waffle_pi/model.sdf"
description: "TurtleBot3 Waffle Pi - With Raspberry Pi camera"
# Default spawn configuration
spawn:
initial_height: 0.01 # Meters above ground
orientation: [0.0, 0.0, 0.0] # Roll, pitch, yaw in radians
# Velocity limits
velocity_limits:
linear:
max: 0.22 # m/s
min: -0.22
angular:
max: 2.84 # rad/s
min: -2.84
# Sensor configurations
sensors:
burger:
- type: "lidar"
topic: "/scan"
frame_id: "base_scan"
waffle:
- type: "lidar"
topic: "/scan"
frame_id: "base_scan"
- type: "camera"
topic: "/camera/image_raw"
frame_id: "camera_rgb_optical_frame"
waffle_pi:
- type: "lidar"
topic: "/scan"
frame_id: "base_scan"
- type: "camera"
topic: "/camera/image_raw"
frame_id: "camera_rgb_optical_frame"
# Connection retry configuration
connection_retry:
# Maximum number of service call retries
max_retries: 3
# Retry delay (seconds)
retry_delay: 0.5
# Exponential backoff multiplier
backoff_multiplier: 2.0
# Maximum retry delay (seconds)
max_retry_delay: 5.0
# Performance tuning
performance:
# Message queue sizes
publisher_queue_size: 10
subscriber_queue_size: 10
# Callback group configuration
use_reentrant_callback_group: true
# Enable zero-copy transport (if supported)
zero_copy: false
# Maximum message size (bytes)
max_message_size: 1048576 # 1 MB
# Security (DDS Security)
security:
# Enable DDS security
enable: false
# Security configuration (if enabled)
# cert_path: "/path/to/certs"
# key_path: "/path/to/keys"
# ca_path: "/path/to/ca"
# Logging
logging:
# Enable ROS2 logging
enable_ros_logging: true
# RCUTILS log level
rcutils_log_level: "INFO" # Options: "DEBUG", "INFO", "WARN", "ERROR", "FATAL"
# Log to rosout topic
log_to_rosout: true
# Console output format
console_output_format: "[{severity}] [{name}]: {message}"
# Diagnostics
diagnostics:
# Enable diagnostics publishing
enable: false
# Diagnostics publish rate (Hz)
publish_rate: 1.0
# Diagnostics topic
topic: "/diagnostics"
# Time synchronization
time:
# Use simulation time
use_sim_time: true
# Clock topic
clock_topic: "/clock"
# Time source priority: "system", "sim_time", "steady"
time_source: "sim_time"
