# Gazebo MCP Server Configuration
#
# This file configures the MCP server behavior, timeouts, and operational parameters.
server:
# Server identification
name: "gazebo-mcp"
version: "0.1.0"
# Communication protocol
protocol: "stdio" # Options: "stdio", "http"
# Logging configuration
log_level: "INFO" # Options: "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"
log_file: "logs/gazebo_mcp.log" # Set to null to disable file logging
log_format: "structured" # Options: "structured", "simple"
# Enable debug mode (provides additional logging and mock data fallback)
debug_mode: false
# Enable performance metrics collection
enable_metrics: true
metrics_file: "logs/metrics.json"
# Timeout configurations (in seconds)
timeouts:
# ROS2 service call timeout
service_call: 10.0
# ROS2 connection establishment timeout
connection: 5.0
# General operation timeout (spawn, delete, etc.)
operation: 30.0
# Sensor data retrieval timeout
sensor_data: 2.0
# Simulation state query timeout
simulation_query: 1.0
# Connection management
connection:
# Auto-reconnect on connection loss
auto_reconnect: true
# Maximum reconnection attempts (0 = infinite)
max_reconnect_attempts: 5
# Reconnection backoff strategy
reconnect_backoff: "exponential" # Options: "exponential", "linear", "constant"
# Initial reconnect delay (seconds)
reconnect_delay: 1.0
# Maximum reconnect delay (seconds)
max_reconnect_delay: 30.0
# Connection health check interval (seconds, 0 = disabled)
health_check_interval: 10.0
# Gazebo-specific settings
gazebo:
# Graceful fallback when Gazebo not running
allow_mock_mode: true
# Expected Gazebo services
required_services:
- "/gazebo/spawn_entity"
- "/gazebo/delete_entity"
- "/gazebo/set_entity_state"
- "/gazebo/get_entity_state"
# Service availability check timeout
service_check_timeout: 5.0
# Performance optimization
performance:
# Enable result filtering for token efficiency
enable_result_filter: true
# Default response format for list operations
default_response_format: "summary" # Options: "summary", "filtered", "full"
# Cache settings
enable_cache: true
cache_ttl: 60 # Cache time-to-live in seconds
# Maximum concurrent operations
max_concurrent_operations: 10
# Safety and validation
validation:
# Strict input validation
strict_mode: true
# Model name validation pattern
model_name_pattern: "^[a-zA-Z0-9_-]+$"
# Maximum coordinate values (meters)
max_coordinate_value: 1000.0
# Maximum model spawn height (meters)
max_spawn_height: 100.0
# Minimum distance between models for collision detection (meters)
min_model_distance: 0.1
# Development settings
development:
# Enable additional debugging output
verbose: false
# Pretty-print JSON responses
pretty_json: true
# Include stack traces in error responses
include_stack_traces: false
# Enable profiling
enable_profiling: false
profiling_output: "logs/profiling.json"
# Feature flags
features:
# Enable experimental features
experimental_features: false
# Enable multi-robot coordination (Phase 5 enhancement)
multi_robot: false
# Enable advanced world generation (Phase 4)
world_generation: false
# Enable sensor streaming (Phase 3 enhancement)
sensor_streaming: false
