#!/bin/bash
#
# Gazebo MCP Server - Global Installation Script
#
# This script installs and configures the Gazebo MCP server globally
# so it's available in all Claude Code sessions.
#
# Usage: ./install_mcp_global.sh [--with-ros2]
#
set -e
# Colors for output
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m' # No Color
# Configuration
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
PROJECT_ROOT="$SCRIPT_DIR"
INSTALL_ROS2=false
# Parse arguments
while [[ $# -gt 0 ]]; do
case $1 in
--with-ros2)
INSTALL_ROS2=true
shift
;;
--help|-h)
echo "Usage: $0 [--with-ros2]"
echo ""
echo "Options:"
echo " --with-ros2 Also install ROS2 Humble and Gazebo Harmonic"
echo " --help, -h Show this help message"
exit 0
;;
*)
echo -e "${RED}Unknown option: $1${NC}"
echo "Use --help for usage information"
exit 1
;;
esac
done
echo -e "${BLUE}======================================================================${NC}"
echo -e "${BLUE} Gazebo MCP Server - Global Installation${NC}"
echo -e "${BLUE}======================================================================${NC}"
echo ""
# Step 1: Check prerequisites
echo -e "${YELLOW}[1/6] Checking prerequisites...${NC}"
# Check Python 3.10+
if ! command -v python3.10 &> /dev/null; then
if ! command -v python3.11 &> /dev/null; then
echo -e "${RED}✗ Python 3.10+ not found${NC}"
echo "Please install Python 3.10 or later:"
echo " sudo apt install python3.10"
exit 1
else
PYTHON_CMD="python3.11"
fi
else
PYTHON_CMD="python3.10"
fi
echo -e "${GREEN}✓ Python found: $PYTHON_CMD${NC}"
# Check Claude CLI
if ! command -v claude &> /dev/null; then
echo -e "${RED}✗ Claude CLI not found${NC}"
echo "Claude Code CLI is required but not found in PATH."
echo "Please ensure Claude Code is properly installed."
exit 1
fi
echo -e "${GREEN}✓ Claude CLI found${NC}"
# Check if we're in the right directory
if [ ! -f "$PROJECT_ROOT/src/gazebo_mcp/server.py" ]; then
echo -e "${RED}✗ Gazebo MCP source files not found${NC}"
echo "Please run this script from the ros2_gazebo_mcp directory"
exit 1
fi
echo -e "${GREEN}✓ Project structure verified${NC}"
echo ""
# Step 2: Install ROS2 (optional)
if [ "$INSTALL_ROS2" = true ]; then
echo -e "${YELLOW}[2/6] Installing ROS2 Humble and Gazebo Harmonic...${NC}"
# Check if already installed
if [ -f "/opt/ros/humble/setup.bash" ]; then
echo -e "${GREEN}✓ ROS2 Humble already installed${NC}"
else
echo "Installing ROS2 Humble..."
# Add ROS2 repository
sudo apt update
sudo apt install -y software-properties-common curl
sudo add-apt-repository universe -y
# Add ROS2 GPG key
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg
# Add ROS2 repository
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | \
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Install ROS2
sudo apt update
sudo apt install -y ros-humble-desktop \
ros-humble-gazebo-ros-pkgs \
ros-humble-ros-gz-bridge \
ros-humble-ros-gz-interfaces
echo -e "${GREEN}✓ ROS2 Humble installed${NC}"
fi
# Install Gazebo Harmonic
if command -v gz &> /dev/null; then
echo -e "${GREEN}✓ Gazebo Harmonic already installed${NC}"
else
echo "Installing Gazebo Harmonic..."
sudo apt install -y gz-harmonic
echo -e "${GREEN}✓ Gazebo Harmonic installed${NC}"
fi
# Add ROS2 sourcing to bashrc if not already there
if ! grep -q "source /opt/ros/humble/setup.bash" ~/.bashrc; then
echo "" >> ~/.bashrc
echo "# ROS2 Humble environment" >> ~/.bashrc
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo -e "${GREEN}✓ Added ROS2 to ~/.bashrc${NC}"
else
echo -e "${GREEN}✓ ROS2 already in ~/.bashrc${NC}"
fi
else
echo -e "${YELLOW}[2/6] Skipping ROS2 installation (use --with-ros2 to install)${NC}"
# Check if ROS2 is available
if [ -f "/opt/ros/humble/setup.bash" ]; then
echo -e "${GREEN}✓ ROS2 Humble detected${NC}"
else
echo -e "${YELLOW}⚠ ROS2 not found - MCP server will run in mock mode${NC}"
echo " To install ROS2, run: $0 --with-ros2"
fi
fi
echo ""
# Step 3: Install Python dependencies
echo -e "${YELLOW}[3/6] Installing Python dependencies...${NC}"
cd "$PROJECT_ROOT"
# Install requirements
$PYTHON_CMD -m pip install --user -r requirements.txt
echo -e "${GREEN}✓ Python dependencies installed${NC}"
echo ""
# Step 4: Build the package (if using colcon)
echo -e "${YELLOW}[4/6] Checking package installation...${NC}"
# Try to install the package
$PYTHON_CMD -m pip install --user "$PROJECT_ROOT"
echo -e "${GREEN}✓ Package installation complete${NC}"
echo ""
# Step 5: Register MCP server globally
echo -e "${YELLOW}[5/6] Registering Gazebo MCP server globally...${NC}"
# Remove existing configuration if present
claude mcp remove gazebo 2>/dev/null || true
# Build the command
MCP_COMMAND="$PYTHON_CMD"
MCP_ARGS="-m mcp.server.server"
# Determine if ROS2 is available
if [ -f "/opt/ros/humble/setup.bash" ]; then
ROS2_AVAILABLE="true"
echo "ROS2 detected - configuring for full functionality"
else
ROS2_AVAILABLE="false"
echo "ROS2 not detected - configuring for mock mode"
fi
# Create temporary wrapper script for proper environment setup
WRAPPER_SCRIPT="$HOME/.local/bin/gazebo-mcp-server"
mkdir -p "$HOME/.local/bin"
cat > "$WRAPPER_SCRIPT" << 'WRAPPER_EOF'
#!/bin/bash
# Gazebo MCP Server Wrapper
# Automatically sources ROS2 environment if available
# Source ROS2 if available
if [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
fi
# Set Python path
export PYTHONPATH="PROJECT_ROOT_PLACEHOLDER/src:PROJECT_ROOT_PLACEHOLDER:$PYTHONPATH"
# Execute the MCP server
exec PYTHON_CMD_PLACEHOLDER -m mcp.server.server "$@"
WRAPPER_EOF
# Replace placeholders
sed -i "s|PROJECT_ROOT_PLACEHOLDER|$PROJECT_ROOT|g" "$WRAPPER_SCRIPT"
sed -i "s|PYTHON_CMD_PLACEHOLDER|$PYTHON_CMD|g" "$WRAPPER_SCRIPT"
# Make executable
chmod +x "$WRAPPER_SCRIPT"
# Add MCP server using Claude CLI with the wrapper
claude mcp add --transport stdio gazebo -- "$WRAPPER_SCRIPT"
echo -e "${GREEN}✓ Gazebo MCP server registered globally${NC}"
echo " Command: $WRAPPER_SCRIPT"
echo ""
# Step 6: Verify installation
echo -e "${YELLOW}[6/6] Verifying installation...${NC}"
# Check if MCP server is in the list
if claude mcp list | grep -q "gazebo"; then
echo -e "${GREEN}✓ MCP server registered successfully${NC}"
else
echo -e "${RED}✗ MCP server not found in list${NC}"
echo "Something went wrong. Please check the output above."
exit 1
fi
echo ""
echo -e "${BLUE}======================================================================${NC}"
echo -e "${GREEN} ✓ Installation Complete!${NC}"
echo -e "${BLUE}======================================================================${NC}"
echo ""
echo -e "${YELLOW}Next Steps:${NC}"
echo ""
echo "1. Restart Claude Code (completely exit and reopen)"
echo ""
echo "2. In Claude Code, check MCP status:"
echo " Type: /mcp"
echo ""
echo "3. Start using Gazebo MCP tools:"
echo " - \"List all models in the simulation\""
echo " - \"Spawn a box at position (1, 2, 0.5)\""
echo " - \"Get simulation status\""
echo ""
if [ "$INSTALL_ROS2" = true ]; then
echo -e "${YELLOW}Important:${NC}"
echo "You need to restart your terminal or run:"
echo " source ~/.bashrc"
echo "for ROS2 environment to be available."
echo ""
fi
echo -e "${YELLOW}Testing:${NC}"
echo ""
echo "To test the MCP server manually:"
echo " $WRAPPER_SCRIPT"
echo ""
echo "To verify in Claude Code:"
echo " claude mcp list"
echo " claude mcp get gazebo"
echo ""
echo -e "${BLUE}Available MCP Tools:${NC}"
echo " - Model Management (5 tools)"
echo " - Sensor Access (3 tools)"
echo " - World Control (4 tools)"
echo " - Simulation Control (6 tools)"
echo ""
echo "See MCP_SETUP_GUIDE.md for detailed documentation."
echo ""
echo -e "${GREEN}Happy robot simulating! 🤖${NC}"
