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<!DOCTYPE html> <html class="writer-html5" lang="en" data-content_root="./"> <head> <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" /> <title>gazebo_mcp.bridge package — ROS2 Gazebo MCP Server 1.0.0 documentation</title> <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" /> <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" /> <script src="_static/jquery.js?v=5d32c60e"></script> <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script> <script src="_static/documentation_options.js?v=8d563738"></script> <script src="_static/doctools.js?v=9bcbadda"></script> <script src="_static/sphinx_highlight.js?v=dc90522c"></script> <script src="_static/js/theme.js"></script> <link rel="index" title="Index" href="genindex.html" /> <link rel="search" title="Search" href="search.html" /> <link rel="next" 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class="breadcrumb-item"><a href="gazebo_mcp.html">gazebo_mcp package</a></li> <li class="breadcrumb-item active">gazebo_mcp.bridge package</li> <li class="wy-breadcrumbs-aside"> <a href="_sources/gazebo_mcp.bridge.rst.txt" rel="nofollow"> View page source</a> </li> </ul> <hr/> </div> <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article"> <div itemprop="articleBody"> <section id="gazebo-mcp-bridge-package"> <h1>gazebo_mcp.bridge package<a class="headerlink" href="#gazebo-mcp-bridge-package" title="Link to this heading"></a></h1> <section id="submodules"> <h2>Submodules<a class="headerlink" href="#submodules" title="Link to this heading"></a></h2> </section> <section id="module-gazebo_mcp.bridge.connection_manager"> <h2>gazebo_mcp.bridge.connection_manager module<a class="headerlink" href="#module-gazebo_mcp.bridge.connection_manager" title="Link to this heading"></a></h2> Connection Manager for Gazebo MCP. Manages ROS2 node lifecycle, connection state, and health monitoring: - ROS2 context and node initialization - Connection state tracking (disconnected, connecting, connected, error) - Auto-reconnect with exponential backoff - Health monitoring (periodic connection checks) - Thread-safe operations - Error recovery This is a CRITICAL component - all ROS2 communication goes through this manager. <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState"> class gazebo_mcp.bridge.connection_manager.ConnectionState(value)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionState">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/enum.html#enum.Enum" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">Enum</code></a> ROS2 connection states. <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState.DISCONNECTED"> DISCONNECTED = 'disconnected'<a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState.DISCONNECTED" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState.CONNECTING"> CONNECTING = 'connecting'<a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState.CONNECTING" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState.CONNECTED"> CONNECTED = 'connected'<a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState.CONNECTED" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState.ERROR"> ERROR = 'error'<a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState.ERROR" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionState.RECONNECTING"> RECONNECTING = 'reconnecting'<a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionState.RECONNECTING" title="Link to this definition"></a></dt> <dd></dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager"> class gazebo_mcp.bridge.connection_manager.ConnectionManager(node_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'gazebo_mcp_bridge', auto_reconnect: <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a> = True, max_reconnect_attempts: <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.14)">int</a> = 5, reconnect_base_delay: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0, health_check_interval: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> Manages ROS2 connection lifecycle and health. Provides thread-safe ROS2 connection management with auto-reconnect, health monitoring, and error recovery. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager = ConnectionManager() >>> manager.connect() >>> if manager.is_connected(): ... # Use ROS2 node ... pass >>> manager.disconnect() </pre></div> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.__init__"> __init__(node_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'gazebo_mcp_bridge', auto_reconnect: <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a> = True, max_reconnect_attempts: <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.14)">int</a> = 5, reconnect_base_delay: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0, health_check_interval: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__init__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.__init__" title="Link to this definition"></a></dt> <dd>Initialize connection manager. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>node_name – Name for the ROS2 node</li> <li>auto_reconnect – Enable automatic reconnection</li> <li>max_reconnect_attempts – Maximum reconnection attempts (0 = infinite)</li> <li>reconnect_base_delay – Base delay for exponential backoff (seconds)</li> <li>health_check_interval – Interval for health checks (seconds)</li> </ul> </dd> </dl> </dd></dl> <dl class="py property"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.state"> property state: <a class="reference internal" href="#gazebo_mcp.bridge.connection_manager.ConnectionState" title="gazebo_mcp.bridge.connection_manager.ConnectionState">ConnectionState</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.state" title="Link to this definition"></a></dt> <dd>Get current connection state (thread-safe). </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.is_connected"> is_connected() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.is_connected" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is active. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.is_disconnected"> is_disconnected() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_disconnected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.is_disconnected" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is inactive. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.is_error"> is_error() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_error">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.is_error" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is in error state. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.connect"> connect(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.connect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.connect" title="Link to this definition"></a></dt> <dd>Establish ROS2 connection. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Connection timeout in seconds </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if connection successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NodeError" title="gazebo_mcp.utils.exceptions.ROS2NodeError">ROS2NodeError</a> – If connection fails </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager = ConnectionManager() >>> manager.connect(timeout=5.0) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.disconnect"> disconnect()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.disconnect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.disconnect" title="Link to this definition"></a></dt> <dd>Disconnect from ROS2. Cleanly shuts down the ROS2 node, executor, and context. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager.disconnect() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.reconnect"> reconnect() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.reconnect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.reconnect" title="Link to this definition"></a></dt> <dd>Reconnect to ROS2. Uses exponential backoff for reconnection attempts. <dl class="field-list simple"> <dt class="field-odd">Returns:</dt> <dd class="field-odd">True if reconnection successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> if not manager.is_connected(): ... manager.reconnect() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.ensure_connected"> ensure_connected()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.ensure_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.ensure_connected" title="Link to this definition"></a></dt> <dd>Context manager to ensure ROS2 connection. <dl class="field-list simple"> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NotConnectedError" title="gazebo_mcp.utils.exceptions.ROS2NotConnectedError">ROS2NotConnectedError</a> – If not connected and cannot connect </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> with manager.ensure_connected(): ... # Use ROS2 node here ... pass </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.get_node"> get_node()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.get_node">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.get_node" title="Link to this definition"></a></dt> <dd>Get the ROS2 node instance. <dl class="field-list simple"> <dt class="field-odd">Returns:</dt> <dd class="field-odd">ROS2 node instance </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NotConnectedError" title="gazebo_mcp.utils.exceptions.ROS2NotConnectedError">ROS2NotConnectedError</a> – If not connected </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node = manager.get_node() >>> # Use node for ROS2 operations </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.on_connected"> on_connected(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.on_connected" title="Link to this definition"></a></dt> <dd>Register callback for connection established event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.on_disconnected"> on_disconnected(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_disconnected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.on_disconnected" title="Link to this definition"></a></dt> <dd>Register callback for disconnection event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.on_error"> on_error(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_error">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.on_error" title="Link to this definition"></a></dt> <dd>Register callback for error state event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.__enter__"> __enter__()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__enter__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.__enter__" title="Link to this definition"></a></dt> <dd>Context manager entry. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.__exit__"> __exit__(exc_type, exc_val, exc_tb)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__exit__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.__exit__" title="Link to this definition"></a></dt> <dd>Context manager exit. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.connection_manager.ConnectionManager.__del__"> __del__()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__del__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.connection_manager.ConnectionManager.__del__" title="Link to this definition"></a></dt> <dd>Destructor - ensure cleanup. </dd></dl> </dd></dl> </section> <section id="module-gazebo_mcp.bridge.gazebo_bridge_node"> <h2>gazebo_mcp.bridge.gazebo_bridge_node module<a class="headerlink" href="#module-gazebo_mcp.bridge.gazebo_bridge_node" title="Link to this heading"></a></h2> Gazebo Bridge Node for Gazebo MCP. ROS2 node that interfaces with Gazebo simulation: - Service clients for Gazebo services (spawn, delete, get state, etc.) - Topic subscriptions for sensor data - Transform listener for TF data - Action clients for complex operations This is a CRITICAL component - it provides the actual Gazebo integration. <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState"> class gazebo_mcp.bridge.gazebo_bridge_node.ModelState(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>], twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active')<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#ModelState">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> Model state information. <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState.name"> name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState.name" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState.pose"> pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>]<a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState.pose" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState.twist"> twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None<a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState.twist" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState.state"> state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active'<a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState.state" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.ModelState.__init__"> __init__(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>], twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active') → <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState.__init__" title="Link to this definition"></a></dt> <dd></dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode"> class gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode(ros2_node)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> ROS2 node for Gazebo simulation interface. Provides high-level interface to Gazebo services and topics. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node = GazeboBridgeNode(ros2_node) >>> models = node.get_model_list() >>> node.spawn_entity("turtlebot3", sdf_content, pose) >>> node.delete_entity("turtlebot3") </pre></div> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.__init__"> __init__(ros2_node)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.__init__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.__init__" title="Link to this definition"></a></dt> <dd>Initialize Gazebo bridge node. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">ros2_node – ROS2 node instance from ConnectionManager </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.spawn_entity"> spawn_entity(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, xml_content: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, reference_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'world', timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.spawn_entity">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.spawn_entity" title="Link to this definition"></a></dt> <dd>Spawn an entity in Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name (must be unique)</li> <li>xml_content – SDF or URDF XML content</li> <li>pose – Spawn pose (position and orientation)</li> <li>reference_frame – Reference frame for pose</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if spawn successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelSpawnError" title="gazebo_mcp.utils.exceptions.ModelSpawnError">ModelSpawnError</a> – If spawn fails</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> pose = { ... "position": {"x": 1.0, "y": 2.0, "z": 0.0}, ... "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0} ... } >>> node.spawn_entity("my_robot", urdf_content, pose) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.delete_entity"> delete_entity(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.delete_entity">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.delete_entity" title="Link to this definition"></a></dt> <dd>Delete an entity from Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if deletion successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelDeleteError" title="gazebo_mcp.utils.exceptions.ModelDeleteError">ModelDeleteError</a> – If deletion fails</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.delete_entity("my_robot") </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.set_entity_state"> set_entity_state(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, reference_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'world', timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.set_entity_state">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.set_entity_state" title="Link to this definition"></a></dt> <dd>Set entity state (pose and/or twist) in Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name</li> <li>pose – Target pose {position: {x,y,z}, orientation: {x,y,z,w}} or {roll,pitch,yaw}</li> <li>twist – Target velocity {linear: {x,y,z}, angular: {x,y,z}}</li> <li>reference_frame – Reference frame for pose (default: “world”)</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if state set successfully </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelNotFoundError" title="gazebo_mcp.utils.exceptions.ModelNotFoundError">ModelNotFoundError</a> – If model doesn’t exist</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2ServiceError" title="gazebo_mcp.utils.exceptions.ROS2ServiceError">ROS2ServiceError</a> – If service call fails</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> # Set position only >>> node.set_entity_state("robot", pose={"position": {"x": 1, "y": 2, "z": 0.5}}) >>> >>> # Set position and velocity >>> node.set_entity_state( ... "robot", ... pose={"position": {"x": 1, "y": 2, "z": 0.5}}, ... twist={"linear": {"x": 0.5, "y": 0, "z": 0}} ... ) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_model_list"> get_model_list(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.List" title="(in Python v3.14)">List</a>[<a class="reference internal" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState" title="gazebo_mcp.bridge.gazebo_bridge_node.ModelState">ModelState</a>]<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_model_list">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_model_list" title="Link to this definition"></a></dt> <dd>Get list of models in Gazebo. Subscribes to /gazebo/model_states topic to get current models. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Timeout for receiving model states </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">List of ModelState objects </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If timeout exceeded</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> models = node.get_model_list() >>> for model in models: ... print(f"{model.name}: {model.pose}") </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_model_state"> get_model_state(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference internal" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState" title="gazebo_mcp.bridge.gazebo_bridge_node.ModelState">ModelState</a> | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_model_state">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_model_state" title="Link to this definition"></a></dt> <dd>Get state of a specific model. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Model name</li> <li>timeout – Timeout for receiving data</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">ModelState object or None if not found </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> state = node.get_model_state("turtlebot3") >>> print(state.pose) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.pause_physics"> pause_physics(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.pause_physics">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.pause_physics" title="Link to this definition"></a></dt> <dd>Pause Gazebo physics simulation. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.pause_physics() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.unpause_physics"> unpause_physics(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.unpause_physics">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.unpause_physics" title="Link to this definition"></a></dt> <dd>Unpause Gazebo physics simulation. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.unpause_physics() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.reset_simulation"> reset_simulation(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.reset_simulation">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.reset_simulation" title="Link to this definition"></a></dt> <dd>Reset Gazebo simulation to initial state. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.reset_simulation() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.reset_world"> reset_world(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.reset_world">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.reset_world" title="Link to this definition"></a></dt> <dd>Reset world to initial state (models + physics). <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.reset_world() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_transform"> get_transform(target_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, source_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0) → <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_transform">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.get_transform" title="Link to this definition"></a></dt> <dd>Get transform between two frames. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>target_frame – Target frame name</li> <li>source_frame – Source frame name</li> <li>timeout – Lookup timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">Transform dictionary or None if not available </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> tf = node.get_transform("map", "base_link") >>> print(tf["translation"]) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.subscribe_to_topic"> subscribe_to_topic(topic_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, msg_type, callback, qos_profile=10)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.subscribe_to_topic">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.subscribe_to_topic" title="Link to this definition"></a></dt> <dd>Subscribe to a ROS2 topic. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>topic_name – Topic name</li> <li>msg_type – Message type class</li> <li>callback – Callback function</li> <li>qos_profile – QoS profile</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">Subscription object </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> from sensor_msgs.msg import LaserScan >>> def laser_callback(msg): ... print(f"Laser ranges: {len(msg.ranges)}") >>> sub = node.subscribe_to_topic("/scan", LaserScan, laser_callback) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.destroy"> destroy()<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.destroy">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.gazebo_bridge_node.GazeboBridgeNode.destroy" title="Link to this definition"></a></dt> <dd>Clean up resources. </dd></dl> </dd></dl> </section> <section id="module-gazebo_mcp.bridge"> <h2>Module contents<a class="headerlink" href="#module-gazebo_mcp.bridge" title="Link to this heading"></a></h2> Gazebo MCP Bridge. ROS2 bridge components for connecting to Gazebo simulation: - ConnectionManager: ROS2 node lifecycle and connection management - GazeboBridgeNode: ROS2 node for Gazebo service calls <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager"> class gazebo_mcp.bridge.ConnectionManager(node_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'gazebo_mcp_bridge', auto_reconnect: <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a> = True, max_reconnect_attempts: <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.14)">int</a> = 5, reconnect_base_delay: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0, health_check_interval: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> Manages ROS2 connection lifecycle and health. Provides thread-safe ROS2 connection management with auto-reconnect, health monitoring, and error recovery. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager = ConnectionManager() >>> manager.connect() >>> if manager.is_connected(): ... # Use ROS2 node ... pass >>> manager.disconnect() </pre></div> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.__del__"> __del__()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__del__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.__del__" title="Link to this definition"></a></dt> <dd>Destructor - ensure cleanup. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.__enter__"> __enter__()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__enter__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.__enter__" title="Link to this definition"></a></dt> <dd>Context manager entry. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.__exit__"> __exit__(exc_type, exc_val, exc_tb)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__exit__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.__exit__" title="Link to this definition"></a></dt> <dd>Context manager exit. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.__init__"> __init__(node_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'gazebo_mcp_bridge', auto_reconnect: <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a> = True, max_reconnect_attempts: <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.14)">int</a> = 5, reconnect_base_delay: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0, health_check_interval: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.__init__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.__init__" title="Link to this definition"></a></dt> <dd>Initialize connection manager. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>node_name – Name for the ROS2 node</li> <li>auto_reconnect – Enable automatic reconnection</li> <li>max_reconnect_attempts – Maximum reconnection attempts (0 = infinite)</li> <li>reconnect_base_delay – Base delay for exponential backoff (seconds)</li> <li>health_check_interval – Interval for health checks (seconds)</li> </ul> </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.connect"> connect(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.connect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.connect" title="Link to this definition"></a></dt> <dd>Establish ROS2 connection. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Connection timeout in seconds </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if connection successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NodeError" title="gazebo_mcp.utils.exceptions.ROS2NodeError">ROS2NodeError</a> – If connection fails </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager = ConnectionManager() >>> manager.connect(timeout=5.0) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.disconnect"> disconnect()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.disconnect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.disconnect" title="Link to this definition"></a></dt> <dd>Disconnect from ROS2. Cleanly shuts down the ROS2 node, executor, and context. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> manager.disconnect() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.ensure_connected"> ensure_connected()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.ensure_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.ensure_connected" title="Link to this definition"></a></dt> <dd>Context manager to ensure ROS2 connection. <dl class="field-list simple"> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NotConnectedError" title="gazebo_mcp.utils.exceptions.ROS2NotConnectedError">ROS2NotConnectedError</a> – If not connected and cannot connect </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> with manager.ensure_connected(): ... # Use ROS2 node here ... pass </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.get_node"> get_node()<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.get_node">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.get_node" title="Link to this definition"></a></dt> <dd>Get the ROS2 node instance. <dl class="field-list simple"> <dt class="field-odd">Returns:</dt> <dd class="field-odd">ROS2 node instance </dd> <dt class="field-even">Raises:</dt> <dd class="field-even"><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2NotConnectedError" title="gazebo_mcp.utils.exceptions.ROS2NotConnectedError">ROS2NotConnectedError</a> – If not connected </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node = manager.get_node() >>> # Use node for ROS2 operations </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.is_connected"> is_connected() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.is_connected" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is active. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.is_disconnected"> is_disconnected() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_disconnected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.is_disconnected" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is inactive. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.is_error"> is_error() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.is_error">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.is_error" title="Link to this definition"></a></dt> <dd>Check if ROS2 connection is in error state. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.on_connected"> on_connected(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_connected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.on_connected" title="Link to this definition"></a></dt> <dd>Register callback for connection established event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.on_disconnected"> on_disconnected(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_disconnected">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.on_disconnected" title="Link to this definition"></a></dt> <dd>Register callback for disconnection event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.on_error"> on_error(callback: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Callable" title="(in Python v3.14)">Callable</a>[[], <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a>])<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.on_error">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.on_error" title="Link to this definition"></a></dt> <dd>Register callback for error state event. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.reconnect"> reconnect() → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionManager.reconnect">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.reconnect" title="Link to this definition"></a></dt> <dd>Reconnect to ROS2. Uses exponential backoff for reconnection attempts. <dl class="field-list simple"> <dt class="field-odd">Returns:</dt> <dd class="field-odd">True if reconnection successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> if not manager.is_connected(): ... manager.reconnect() </pre></div> </div> </div> </dd></dl> <dl class="py property"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionManager.state"> property state: <a class="reference internal" href="#gazebo_mcp.bridge.connection_manager.ConnectionState" title="gazebo_mcp.bridge.connection_manager.ConnectionState">ConnectionState</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionManager.state" title="Link to this definition"></a></dt> <dd>Get current connection state (thread-safe). </dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState"> class gazebo_mcp.bridge.ConnectionState(value)<a class="reference internal" href="_modules/gazebo_mcp/bridge/connection_manager.html#ConnectionState">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/enum.html#enum.Enum" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">Enum</code></a> ROS2 connection states. <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState.DISCONNECTED"> DISCONNECTED = 'disconnected'<a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState.DISCONNECTED" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState.CONNECTING"> CONNECTING = 'connecting'<a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState.CONNECTING" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState.CONNECTED"> CONNECTED = 'connected'<a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState.CONNECTED" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState.ERROR"> ERROR = 'error'<a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState.ERROR" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ConnectionState.RECONNECTING"> RECONNECTING = 'reconnecting'<a class="headerlink" href="#gazebo_mcp.bridge.ConnectionState.RECONNECTING" title="Link to this definition"></a></dt> <dd></dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode"> class gazebo_mcp.bridge.GazeboBridgeNode(ros2_node)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> ROS2 node for Gazebo simulation interface. Provides high-level interface to Gazebo services and topics. <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node = GazeboBridgeNode(ros2_node) >>> models = node.get_model_list() >>> node.spawn_entity("turtlebot3", sdf_content, pose) >>> node.delete_entity("turtlebot3") </pre></div> </div> </div> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.__init__"> __init__(ros2_node)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.__init__">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.__init__" title="Link to this definition"></a></dt> <dd>Initialize Gazebo bridge node. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">ros2_node – ROS2 node instance from ConnectionManager </dd> </dl> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.delete_entity"> delete_entity(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.delete_entity">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.delete_entity" title="Link to this definition"></a></dt> <dd>Delete an entity from Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if deletion successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelDeleteError" title="gazebo_mcp.utils.exceptions.ModelDeleteError">ModelDeleteError</a> – If deletion fails</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.delete_entity("my_robot") </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.destroy"> destroy()<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.destroy">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.destroy" title="Link to this definition"></a></dt> <dd>Clean up resources. </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.get_model_list"> get_model_list(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.List" title="(in Python v3.14)">List</a>[<a class="reference internal" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState" title="gazebo_mcp.bridge.gazebo_bridge_node.ModelState">ModelState</a>]<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_model_list">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.get_model_list" title="Link to this definition"></a></dt> <dd>Get list of models in Gazebo. Subscribes to /gazebo/model_states topic to get current models. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Timeout for receiving model states </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">List of ModelState objects </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If timeout exceeded</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> models = node.get_model_list() >>> for model in models: ... print(f"{model.name}: {model.pose}") </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.get_model_state"> get_model_state(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference internal" href="#gazebo_mcp.bridge.gazebo_bridge_node.ModelState" title="gazebo_mcp.bridge.gazebo_bridge_node.ModelState">ModelState</a> | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_model_state">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.get_model_state" title="Link to this definition"></a></dt> <dd>Get state of a specific model. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Model name</li> <li>timeout – Timeout for receiving data</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">ModelState object or None if not found </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> state = node.get_model_state("turtlebot3") >>> print(state.pose) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.get_transform"> get_transform(target_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, source_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 1.0) → <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.get_transform">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.get_transform" title="Link to this definition"></a></dt> <dd>Get transform between two frames. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>target_frame – Target frame name</li> <li>source_frame – Source frame name</li> <li>timeout – Lookup timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">Transform dictionary or None if not available </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> tf = node.get_transform("map", "base_link") >>> print(tf["translation"]) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.pause_physics"> pause_physics(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.pause_physics">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.pause_physics" title="Link to this definition"></a></dt> <dd>Pause Gazebo physics simulation. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.pause_physics() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.reset_simulation"> reset_simulation(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.reset_simulation">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.reset_simulation" title="Link to this definition"></a></dt> <dd>Reset Gazebo simulation to initial state. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.reset_simulation() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.reset_world"> reset_world(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.reset_world">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.reset_world" title="Link to this definition"></a></dt> <dd>Reset world to initial state (models + physics). <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.reset_world() </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.set_entity_state"> set_entity_state(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, reference_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'world', timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.set_entity_state">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.set_entity_state" title="Link to this definition"></a></dt> <dd>Set entity state (pose and/or twist) in Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name</li> <li>pose – Target pose {position: {x,y,z}, orientation: {x,y,z,w}} or {roll,pitch,yaw}</li> <li>twist – Target velocity {linear: {x,y,z}, angular: {x,y,z}}</li> <li>reference_frame – Reference frame for pose (default: “world”)</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if state set successfully </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelNotFoundError" title="gazebo_mcp.utils.exceptions.ModelNotFoundError">ModelNotFoundError</a> – If model doesn’t exist</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ROS2ServiceError" title="gazebo_mcp.utils.exceptions.ROS2ServiceError">ROS2ServiceError</a> – If service call fails</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> # Set position only >>> node.set_entity_state("robot", pose={"position": {"x": 1, "y": 2, "z": 0.5}}) >>> >>> # Set position and velocity >>> node.set_entity_state( ... "robot", ... pose={"position": {"x": 1, "y": 2, "z": 0.5}}, ... twist={"linear": {"x": 0.5, "y": 0, "z": 0}} ... ) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.spawn_entity"> spawn_entity(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, xml_content: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, reference_frame: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'world', timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 10.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.spawn_entity">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.spawn_entity" title="Link to this definition"></a></dt> <dd>Spawn an entity in Gazebo. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>name – Entity name (must be unique)</li> <li>xml_content – SDF or URDF XML content</li> <li>pose – Spawn pose (position and orientation)</li> <li>reference_frame – Reference frame for pose</li> <li>timeout – Service call timeout</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if spawn successful </dd> <dt class="field-odd">Raises:</dt> <dd class="field-odd"><ul class="simple"> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.ModelSpawnError" title="gazebo_mcp.utils.exceptions.ModelSpawnError">ModelSpawnError</a> – If spawn fails</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboTimeoutError" title="gazebo_mcp.utils.exceptions.GazeboTimeoutError">GazeboTimeoutError</a> – If service call times out</li> <li><a class="reference internal" href="gazebo_mcp.utils.html#gazebo_mcp.utils.exceptions.GazeboNotRunningError" title="gazebo_mcp.utils.exceptions.GazeboNotRunningError">GazeboNotRunningError</a> – If Gazebo is not running</li> </ul> </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> pose = { ... "position": {"x": 1.0, "y": 2.0, "z": 0.0}, ... "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0} ... } >>> node.spawn_entity("my_robot", urdf_content, pose) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.subscribe_to_topic"> subscribe_to_topic(topic_name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, msg_type, callback, qos_profile=10)<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.subscribe_to_topic">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.subscribe_to_topic" title="Link to this definition"></a></dt> <dd>Subscribe to a ROS2 topic. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd"><ul class="simple"> <li>topic_name – Topic name</li> <li>msg_type – Message type class</li> <li>callback – Callback function</li> <li>qos_profile – QoS profile</li> </ul> </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">Subscription object </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> from sensor_msgs.msg import LaserScan >>> def laser_callback(msg): ... print(f"Laser ranges: {len(msg.ranges)}") >>> sub = node.subscribe_to_topic("/scan", LaserScan, laser_callback) </pre></div> </div> </div> </dd></dl> <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.GazeboBridgeNode.unpause_physics"> unpause_physics(timeout: <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.14)">float</a> = 5.0) → <a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.14)">bool</a><a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#GazeboBridgeNode.unpause_physics">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.GazeboBridgeNode.unpause_physics" title="Link to this definition"></a></dt> <dd>Unpause Gazebo physics simulation. <dl class="field-list simple"> <dt class="field-odd">Parameters:</dt> <dd class="field-odd">timeout – Service call timeout </dd> <dt class="field-even">Returns:</dt> <dd class="field-even">True if successful </dd> </dl> <div class="admonition-example admonition"> Example <div class="doctest highlight-default notranslate"><div class="highlight"><pre>>>> node.unpause_physics() </pre></div> </div> </div> </dd></dl> </dd></dl> <dl class="py class"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState"> class gazebo_mcp.bridge.ModelState(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>], twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active')<a class="reference internal" href="_modules/gazebo_mcp/bridge/gazebo_bridge_node.html#ModelState">[source]</a><a class="headerlink" href="#gazebo_mcp.bridge.ModelState" title="Link to this definition"></a></dt> <dd>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.14)"><code class="xref py py-class docutils literal notranslate">object</code></a> Model state information. <dl class="py method"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState.__init__"> __init__(name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>], twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None, state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active') → <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a><a class="headerlink" href="#gazebo_mcp.bridge.ModelState.__init__" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState.state"> state: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a> = 'active'<a class="headerlink" href="#gazebo_mcp.bridge.ModelState.state" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState.twist"> twist: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>] | <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.14)">None</a> = None<a class="headerlink" href="#gazebo_mcp.bridge.ModelState.twist" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState.name"> name: <a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a><a class="headerlink" href="#gazebo_mcp.bridge.ModelState.name" title="Link to this definition"></a></dt> <dd></dd></dl> <dl class="py attribute"> <dt class="sig sig-object py" id="gazebo_mcp.bridge.ModelState.pose"> pose: <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.14)">Dict</a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.14)">str</a>, <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.14)">Any</a>]<a class="headerlink" href="#gazebo_mcp.bridge.ModelState.pose" title="Link to this definition"></a></dt> <dd></dd></dl> </dd></dl> </section> </section> </div> </div> <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer"> <a href="gazebo_mcp.html" class="btn btn-neutral float-left" title="gazebo_mcp package" accesskey="p" rel="prev"> Previous</a> <a href="gazebo_mcp.tools.html" class="btn btn-neutral float-right" title="gazebo_mcp.tools package" accesskey="n" rel="next">Next </a> </div> <hr/> <div role="contentinfo"> © Copyright 2025, Development Team. </div> Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>. </footer> </div> </div> </section> </div> <script> jQuery(function () { SphinxRtdTheme.Navigation.enable(true); }); </script> </body> </html>

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