Gazebo MCP Server

# Manual Demo Setup Guide Step-by-step instructions to run demos manually from separate terminals. ## Prerequisites Check First, verify you have everything installed: ```bash # Check ROS2 ros2 --version # Check Gazebo (try both commands) gz sim --version # OR ign gazebo --version # Check ros_gz_bridge ros2 pkg list | grep ros_gz_bridge ``` If anything is missing, see [Installation](#installation) section below. --- ## Hello World Demo - Manual Setup ### Step 1: Terminal 1 - Start Gazebo ```bash # Source ROS2 source /opt/ros/humble/setup.bash # Start Gazebo with empty world gz sim -r /usr/share/gz/gz-sim8/worlds/empty.sdf ``` **Alternative paths to try if above doesn't work:** ```bash # Try Garden gz sim -r /usr/share/gz/worlds/empty.sdf # Try Fortress ign gazebo -r /usr/share/ignition/ignition-gazebo6/worlds/empty.sdf # Or use a minimal inline world gz sim -r -s ``` **What to expect:** - Gazebo window opens (or runs headless with `-s`) - Status messages in terminal - No errors **Leave this terminal running!** --- ### Step 2: Terminal 2 - Start ros_gz_bridge Open a **new terminal**: ```bash # Source ROS2 source /opt/ros/humble/setup.bash # Start the bridge 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" ``` **Important:** - Make sure world name matches! If Gazebo loaded a different world name, update `/world/empty/` to match - To find the world name, look in Gazebo terminal output or in the .sdf file **What to expect:** - Bridge starts and shows service mappings - No errors - Terminal stays running with periodic output **Wait 5 seconds** for bridge to fully initialize before proceeding! **Leave this terminal running!** --- ### Step 3: Terminal 3 - Verify Services (Optional) Open a **new terminal** to verify everything is working: ```bash # Source ROS2 source /opt/ros/humble/setup.bash # List services - should see /world/empty/... services ros2 service list | grep /world/ # Expected output: # /world/empty/control # /world/empty/create # /world/empty/remove # /world/empty/set_pose ``` **Test a service call:** ```bash # Test pause/unpause ros2 service call /world/empty/control ros_gz_interfaces/srv/ControlWorld \ "{world_control: {pause: false}}" # Should return: # response: # ros_gz_interfaces.srv.ControlWorld_Response(success=True) ``` If this works, you're ready to run the demo! --- ### Step 4: Terminal 4 - Run Hello World Demo Open a **new terminal**: ```bash # Navigate to demos cd <path-to-ros2_gazebo_mcp>/demos # Source ROS2 source /opt/ros/humble/setup.bash # Run with system Python 3.10 /usr/bin/python3 01_hello_world/hello_world_demo.py ``` **What to expect:** ``` ====================================================================== Demo Configuration ====================================================================== Demo Name: Hello World Description: Simple demonstration of basic Gazebo MCP operations Gazebo World: empty Timeout: 30.0s Models: 1 ... ====================================================================== ====================================================================== 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! ====================================================================== ``` **In Gazebo window** (if visible): - You'll see a green box appear - Box moves to a new position - Box disappears --- ## Obstacle Course Demo - Manual Setup ### Step 1: Use Automated Setup Script The Obstacle Course has its own setup script that starts both Gazebo and bridge: ```bash cd <path-to-ros2_gazebo_mcp>/demos/02_obstacle_course ./setup.sh ``` This script will: 1. Check dependencies 2. Start Gazebo with obstacle course world 3. Start ros_gz_bridge with correct services 4. Verify everything is ready **Wait for the message:** ``` ════════════════════════════════════════════════════════════════ Setup Complete! ════════════════════════════════════════════════════════════════ ``` **Leave this terminal running!** --- ### Step 2: Run Obstacle Course Demo Open a **new terminal**: ```bash cd <path-to-ros2_gazebo_mcp>/demos/02_obstacle_course # Source ROS2 source /opt/ros/humble/setup.bash # Run demo /usr/bin/python3 obstacle_course_demo.py ``` **What to expect:** - 10 steps execute - Robot, obstacles, and target spawn - Robot navigates through waypoints - ~25 seconds total duration --- ## Troubleshooting ### Issue: "gz: command not found" **Try these in order:** 1. **Check if Ignition Gazebo is installed:** ```bash ign gazebo --version ``` If this works, use `ign gazebo` instead of `gz sim`. 2. **Install Gazebo:** ```bash # For Garden sudo apt install gz-garden # For Fortress (older) sudo apt install ignition-gazebo6 # For Harmonic (newer) sudo apt install gz-harmonic ``` 3. **Find Gazebo worlds:** ```bash # Find world files find /usr/share -name "empty.sdf" 2>/dev/null # Common locations: # /usr/share/gz/gz-sim8/worlds/empty.sdf (Garden/Harmonic) # /usr/share/ignition/ignition-gazebo6/worlds/empty.sdf (Fortress) ``` --- ### Issue: "Service not available" or timeouts **Solutions:** 1. **Wait longer after starting bridge** (10 seconds instead of 5) 2. **Check if services exist:** ```bash ros2 service list | grep /world/ ``` 3. **Verify Gazebo world name:** ```bash # In Gazebo terminal, look for output like: # [Msg] Loading world [empty] ``` Use this name in bridge command. 4. **Restart bridge with correct world name:** ```bash # If world is named "default" instead of "empty": ros2 run ros_gz_bridge parameter_bridge \ "/world/default/control@ros_gz_interfaces/srv/ControlWorld" \ "/world/default/create@ros_gz_interfaces/srv/SpawnEntity" \ "/world/default/remove@ros_gz_interfaces/srv/DeleteEntity" \ "/world/default/set_pose@ros_gz_interfaces/srv/SetEntityPose" ``` --- ### Issue: "ModuleNotFoundError: rclpy" **Cause:** Using anaconda Python instead of system Python **Solution:** Always use `/usr/bin/python3`: ```bash /usr/bin/python3 hello_world_demo.py ``` NOT: ```bash python3 hello_world_demo.py # ❌ Uses anaconda ``` --- ### Issue: Bridge shows errors **Check bridge logs:** ```bash # If using setup.sh cat /tmp/bridge_test.log # Or for obstacle course cat /tmp/obstacle_course_bridge.log ``` **Common fixes:** - Ensure Gazebo is fully started before bridge - Verify world name matches in Gazebo and bridge - Check ROS2 domain ID matches (usually not needed) --- ## Quick Reference ### Start Gazebo (Terminal 1) ```bash source /opt/ros/humble/setup.bash gz sim -r /usr/share/gz/gz-sim8/worlds/empty.sdf ``` ### Start Bridge (Terminal 2) ```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" ``` ### Run Demo (Terminal 3) ```bash cd ros2_gazebo_mcp/demos source /opt/ros/humble/setup.bash /usr/bin/python3 01_hello_world/hello_world_demo.py ``` --- ## Installation If you're missing components: ### Install ROS2 Humble ```bash # Add ROS2 repository sudo apt update sudo apt install software-properties-common sudo add-apt-repository universe # Add ROS2 key sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ -o /usr/share/keyrings/ros-archive-keyring.gpg # Add repository echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \ sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null # Install ROS2 sudo apt update sudo apt install ros-humble-ros-base ``` ### Install Gazebo ```bash # Install Gazebo Garden (recommended) sudo apt install gz-garden # OR Fortress (older but stable) sudo apt install ignition-gazebo6 ``` ### Install ros_gz packages ```bash sudo apt install \ ros-humble-ros-gz-bridge \ ros-humble-ros-gz-interfaces ``` ### Verify Installation ```bash source /opt/ros/humble/setup.bash ros2 --version gz sim --version ros2 pkg list | grep ros_gz_bridge ``` --- ## Terminal Summary You need **3-4 terminals** running simultaneously: | Terminal | Purpose | Command | Keep Running? | |----------|---------|---------|---------------| | 1 | Gazebo | `gz sim -r /path/to/empty.sdf` | ✅ Yes | | 2 | Bridge | `ros2 run ros_gz_bridge parameter_bridge ...` | ✅ Yes | | 3 | Verify (optional) | `ros2 service list` | ❌ No (one-time) | | 4 | Demo | `/usr/bin/python3 hello_world_demo.py` | ❌ No (runs once) | --- ## Tips 1. **Always source ROS2 first** in each new terminal: ```bash source /opt/ros/humble/setup.bash ``` 2. **Use system Python**, not anaconda: ```bash /usr/bin/python3 script.py ``` 3. **Wait for bridge warmup** (5-10 seconds) before running demo 4. **Check world names match** between Gazebo and bridge 5. **Keep terminals organized** - label them or use tmux/screen --- Good luck! If you encounter issues, check [TROUBLESHOOTING.md](TROUBLESHOOTING.md) for more solutions.