Gazebo MCP Server

# Hello World Demo Simple demonstration of basic Gazebo MCP operations. ## Overview This demo demonstrates the fundamental operations of the Gazebo MCP system: 1. Environment validation 2. ROS2 initialization 3. Spawning a model 4. Moving a model 5. Deleting a model ## Prerequisites - ROS2 Humble installed - Modern Gazebo (Fortress/Garden/Harmonic) - ros_gz_bridge package - Gazebo running with ros_gz_bridge ## Setup 1. Start Modern Gazebo: ```bash gz sim /usr/share/gz/gz-sim8/worlds/empty.sdf ``` 2. In a new terminal, start ros_gz_bridge: ```bash source /opt/ros/humble/setup.bash ros2 run ros_gz_bridge parameter_bridge \ "/world/empty/control@ros_gz_interfaces/srv/ControlWorld" \ "/world/empty/create@ros_gz_interfaces/srv/SpawnEntity" \ "/world/empty/remove@ros_gz_interfaces/srv/DeleteEntity" \ "/world/empty/set_pose@ros_gz_interfaces/srv/SetEntityPose" \ "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock" ``` 3. Wait 2-3 seconds for bridge to initialize ## Running the Demo ```bash cd demos/01_hello_world ./hello_world_demo.py ``` Or using Python: ```bash python3 hello_world_demo.py ``` ## Expected Output ``` ====================================================================== Hello World Demo ====================================================================== Demonstrates basic Gazebo MCP operations: spawn, move, delete [Step 1/5] Validating environment... ✅ Validate environment (completed in 0.15s) [Step 2/5] Initializing ROS2 and adapter... ✅ Initialize ROS2 and adapter (completed in 1.23s) [Step 3/5] Spawning box model... ✅ Spawn box model (completed in 2.45s) [Step 4/5] Moving box to new position... ✅ Move box to new position (completed in 1.87s) [Step 5/5] Deleting box model... ✅ Delete box model (completed in 1.34s) ====================================================================== Demo Summary ====================================================================== Total Duration: 7.04s Steps Completed: 5/5 ✅ Steps Failed: 0/5 ❌ 🎉 Demo completed successfully! ====================================================================== ``` ## What This Demonstrates ### 1. Environment Validation - Checks for required commands (ros2, gz) - Verifies ROS2 packages are installed - Confirms Gazebo is running ### 2. ROS2 Integration - Initializes ROS2 node - Creates Modern Gazebo adapter - Connects to Gazebo services via ros_gz_bridge ### 3. Model Spawning - Generates simple box SDF inline - Spawns box at configured position - Validates spawn success ### 4. Model Manipulation - Moves box to new position - Updates entity state in simulation - Demonstrates set_entity_state operation ### 5. Model Cleanup - Deletes spawned model - Cleans up resources - Demonstrates delete_entity operation ## Configuration Edit `config.yaml` to customize: ```yaml models: hello_box: pose: position: [2.0, 0.0, 0.5] # Initial spawn position orientation: [0.0, 0.0, 0.0, 1.0] new_position: [3.0, 1.0, 0.5] # Position to move to ``` ## Testing Run unit tests: ```bash pytest test_hello_world_demo.py -v ``` Or: ```bash python3 test_hello_world_demo.py ``` ## Troubleshooting ### "Gazebo is not running" Start Gazebo first (see Setup step 1) ### "ros_gz_bridge package not found" Install with: ```bash sudo apt install ros-humble-ros-gz-bridge ``` ### Service timeouts - Verify bridge is running - Wait a few seconds after starting bridge - Check services are visible: ```bash ros2 service list | grep /world/empty/ ``` ### "Model already exists" If previous run didn't cleanup: ```bash ros2 service call /world/empty/remove ros_gz_interfaces/srv/DeleteEntity \ "{entity: {name: 'hello_box'}}" ``` ## Architecture ``` hello_world_demo.py ├── Uses: DemoExecutor (framework base class) ├── Uses: DemoValidator (environment checks) ├── Uses: ConfigLoader (YAML config) └── Uses: ModernGazeboAdapter (Gazebo operations) └── ros_gz_bridge → Modern Gazebo ``` ## Next Steps After completing this demo, try: 1. **Obstacle Course Demo** - More complex scenario with multiple models 2. Modify config.yaml to spawn different positions 3. Add more models to the demo 4. Experiment with different SDF geometries ## Related Documentation - `demos/framework/` - Demo framework implementation - `demos/02_obstacle_course/` - Advanced demo - `ros2_gazebo_mcp/docs/DEPLOYMENT_GUIDE_MODERN_GAZEBO.md` - Gazebo setup