Gazebo MCP Server

# Gazebo MCP - Tutorial Series Welcome to the complete tutorial series for the ROS2 Gazebo MCP Server! This progressive series takes you from absolute beginner to advanced robotics development with AI-assisted tools. ## 📚 Tutorial Path ### Beginner Track (3-4 hours total) **Start here if you're new to ROS2, Gazebo, or robotics!** 1. **[Getting Started](01_getting_started/)** - 30 min - Install ROS2 and Gazebo - Set up MCP Server - Spawn your first robot - Basic natural language control 2. **[Working with Sensors](02_working_with_sensors/)** - 45 min - Camera feeds and image processing - LiDAR scanning - IMU and odometry data - Real-time sensor visualization 3. **[Creating Custom Worlds](03_creating_worlds/)** - 60 min - World file basics - Adding objects and obstacles - Lighting and materials - Heightmap terrain ### Intermediate Track (5-6 hours total) **Continue here after completing beginner tutorials** 4. **[Multi-Robot Scenarios](04_multi_robot/)** - 60 min - Spawning multiple robots - Robot coordination - Formation control - Communication patterns 5. **[Path Planning Basics](05_path_planning/)** - 90 min - Nav2 stack introduction - Global and local planning - Cost maps - Obstacle avoidance 6. **[Sensor Fusion Techniques](06_sensor_fusion/)** - 90 min - Combining multiple sensors - Kalman filtering - SLAM (Simultaneous Localization and Mapping) - Map building ### Advanced Track (8-10 hours total) **For experienced users pushing boundaries** 7. **[Performance Optimization](07_performance/)** - 120 min - Profiling ROS2 nodes - Message optimization - Simulation performance tuning - Real-time constraints 8. **[Custom Tool Development](08_custom_tools/)** - 120 min - Creating new MCP tools - Python tool API - Testing and validation - Tool documentation 9. **[Integration with Nav2](09_nav2_integration/)** - 120 min - Advanced navigation concepts - Behavior trees - Recovery behaviors - Custom planners 10. **[Production Deployment](10_production/)** - 120 min - Docker containerization - CI/CD pipelines - Monitoring and logging - Scaling considerations --- ## 🎯 Learning Path Recommendations ### By Background **No Robotics Experience**: ``` 1. Getting Started 2. Working with Sensors 3. Creating Custom Worlds → Then try demos before continuing ``` **Some Programming, No ROS**: ``` 1. Getting Started (skim installation) 2. Working with Sensors 3. Multi-Robot Scenarios 4. Path Planning Basics → Jump to advanced topics as interested ``` **Experienced ROS User**: ``` Skip to: 5. Path Planning Basics (refresh) 7. Performance Optimization 8. Custom Tool Development 9. Integration with Nav2 10. Production Deployment ``` ### By Goal **Quick Prototyping**: - Tutorial 1, 2, 3 - Focus on natural language control - Use demos for inspiration **Research Projects**: - All beginner tutorials - Tutorial 5, 6, 7 - Emphasis on reproducibility and metrics **Production Systems**: - All tutorials - Deep dive: 7, 8, 9, 10 - Review security and deployment best practices **Educational Use**: - Tutorials 1-6 - Use tutorial structure for teaching - Adapt examples for classroom --- ## 📖 Tutorial Structure Each tutorial follows this consistent format: ``` tutorials/XX_tutorial_name/ ├── README.md # Main tutorial content ├── setup.sh # Automated setup script ├── examples/ # Code examples │ ├── basic_example.py │ ├── advanced_example.py │ └── solution.py # Solutions to exercises ├── exercises/ # Practice exercises │ ├── exercise_1.md │ ├── exercise_2.md │ └── exercise_3.md ├── resources/ # Additional resources │ ├── slides.pdf │ ├── cheatsheet.md │ └── reference.md └── solutions/ # Exercise solutions ├── solution_1.py ├── solution_2.py └── solution_3.py ``` ### Tutorial Features ✅ **Progressive Difficulty**: Each builds on previous tutorials ✅ **Hands-On**: Learn by doing, not just reading ✅ **Checkpoints**: Verify progress at key points ✅ **Troubleshooting**: Common issues and solutions ✅ **Exercises**: Practice what you learned ✅ **Solutions**: Check your work ✅ **Quick Reference**: Cheat sheets for later use --- ## ⏱️ Time Estimates | Tutorial | Reading | Hands-On | Exercises | Total | |----------|---------|----------|-----------|-------| | 1. Getting Started | 10 min | 15 min | 5 min | 30 min | | 2. Sensors | 15 min | 20 min | 10 min | 45 min | | 3. Custom Worlds | 20 min | 30 min | 10 min | 60 min | | 4. Multi-Robot | 20 min | 30 min | 10 min | 60 min | | 5. Path Planning | 30 min | 45 min | 15 min | 90 min | | 6. Sensor Fusion | 30 min | 45 min | 15 min | 90 min | | 7. Performance | 40 min | 60 min | 20 min | 120 min | | 8. Custom Tools | 40 min | 60 min | 20 min | 120 min | | 9. Nav2 Integration | 40 min | 60 min | 20 min | 120 min | | 10. Production | 40 min | 60 min | 20 min | 120 min | | **TOTAL** | **4.5 hrs** | **7 hrs** | **2.25 hrs** | **13.75 hrs** | **Accelerated Path** (Skip exercises): ~11.5 hours **Comprehensive Path** (All content + extra practice): ~16 hours --- ## 🚀 Quick Start ### Brand New to Everything? ```bash # Start here! cd tutorials/01_getting_started cat README.md # Follow the installation steps ./setup.sh # Complete the tutorial # Then move to tutorial 2 ``` ### Just Want to Try It? ```bash # Quick demo without full tutorial cd tutorials/01_getting_started ./setup.sh # Install prerequisites ./quick_start.sh # Launches everything # Follow prompts to spawn robot and try commands ``` ### Classroom / Workshop Use? ```bash # For instructors cd tutorials/ ./setup_classroom.sh # Sets up for multiple users # Creates student accounts, shared resources, etc. ``` --- ## 📋 Prerequisites ### For All Tutorials **Required**: - Ubuntu 22.04 or 24.04 - 8GB RAM minimum (16GB recommended) - Basic command-line knowledge - Internet connection (for installation) **Helpful But Not Required**: - Python programming experience - Understanding of coordinate systems - Familiarity with Linux ### Per Tutorial Most tutorials only require completing previous tutorials. Specific additional requirements are noted in each README. --- ## 🎓 Learning Outcomes After completing all tutorials, you will be able to: ### Technical Skills - ✅ Install and configure ROS2 + Gazebo + MCP Server - ✅ Spawn and control robots using natural language - ✅ Access and process sensor data (camera, LiDAR, IMU) - ✅ Create custom simulation worlds - ✅ Implement multi-robot coordination - ✅ Use Nav2 for autonomous navigation - ✅ Perform sensor fusion and SLAM - ✅ Optimize simulation performance - ✅ Develop custom MCP tools - ✅ Deploy production-ready systems ### Conceptual Understanding - ✅ How AI interfaces with robotics systems - ✅ ROS2 architecture and communication patterns - ✅ Gazebo simulation mechanics - ✅ Path planning algorithms - ✅ Sensor integration techniques - ✅ Production deployment considerations ### Practical Applications - ✅ Rapid prototyping of robotics concepts - ✅ Algorithm testing and validation - ✅ Multi-robot system development - ✅ Educational robotics projects - ✅ Research experiment setup - ✅ Production system development --- ## 💡 Tips for Success ### Study Habits **1. Progressive Learning**: Complete tutorials in order ``` Don't skip ahead! Each tutorial builds on previous concepts. If stuck, review previous tutorial before proceeding. ``` **2. Hands-On Practice**: Type commands yourself ``` Don't copy-paste blindly. Type commands to build muscle memory. Make mistakes and learn from errors. ``` **3. Experiment**: Try variations ``` After each section, try your own variations. What happens if you change a parameter? Can you combine concepts from different tutorials? ``` **4. Take Breaks**: Avoid marathon sessions ``` 30-45 minute tutorial → 10 minute break Long tutorial (90+ min) → Break into 2 sessions Better to do 1 tutorial well than 3 tutorials rushed ``` ### Technical Tips **1. Use Version Control**: ```bash # Track your progress git init my-gazebo-learning cd my-gazebo-learning # Save work after each tutorial git add . git commit -m "Completed tutorial 3" ``` **2. Keep Notes**: ``` Create notes.md for each tutorial Document commands that work well Record solutions to issues you encountered ``` **3. Build a Cheat Sheet**: ``` Collect useful commands across tutorials Create your own quick reference Share with peers ``` **4. Join Community**: ``` Ask questions in Discord/Slack Share your progress Help others (teaching reinforces learning) ``` --- ## 🐛 Troubleshooting ### Common Issues Across Tutorials **Issue**: "ROS2 commands not found" ```bash # Solution: Source ROS2 in every new terminal source /opt/ros/humble/setup.bash # Or add to .bashrc permanently: echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc source ~/.bashrc ``` **Issue**: "Gazebo crashes or won't start" ```bash # Solution 1: Clear cache rm -rf ~/.gz/sim/* # Solution 2: Check GPU glxinfo | grep "OpenGL" # Solution 3: Use software rendering (slower) LIBGL_ALWAYS_SOFTWARE=1 gz sim ``` **Issue**: "Permission denied" ```bash # Solution: Add user to dialout group (for serial access) sudo usermod -a -G dialout $USER # Then logout and login again ``` **Issue**: "Tutorials don't match my installed versions" ```bash # Check versions ros2 --version # Should be 0.25.x (Humble) gz sim --version # Should be 8.x (Harmonic) # If versions different, see migration guides in docs/ ``` ### Getting Help **Before Asking for Help**: 1. ✅ Check troubleshooting section in tutorial README 2. ✅ Search GitHub issues 3. ✅ Review error messages carefully 4. ✅ Try the tutorial on a fresh system (if possible) **When Asking for Help**: Include: - Tutorial name and section - Your OS version: `lsb_release -a` - ROS2 version: `ros2 --version` - Error message (full text) - What you've tried already **Where to Ask**: - GitHub Issues (for bugs) - Discord/Slack (for questions) - Stack Overflow (tag: gazebo-mcp) --- ## 🏆 Completion Certificates Track your progress! ```bash # After completing each tutorial ./mark_complete.sh # View progress ./show_progress.sh ``` **Output**: ``` Tutorial Progress: ✅ 1. Getting Started ✅ 2. Working with Sensors ✅ 3. Creating Custom Worlds ⬜ 4. Multi-Robot Scenarios ⬜ 5. Path Planning Basics ... Completion: 30% (3/10 tutorials) Estimated time remaining: 9.5 hours ``` **Generate Certificate**: ```bash # After completing all 10 tutorials ./generate_certificate.sh # Creates: certificate_YOUR_NAME.pdf ``` --- ## 📚 Additional Resources ### Official Documentation - ROS2 Humble: https://docs.ros.org/en/humble/ - Gazebo: https://gazebosim.org/docs - MCP Protocol: https://modelcontextprotocol.io/ ### Books - "Programming Robots with ROS" (O'Reilly) - "A Gentle Introduction to ROS" (Online) - "Gazebo Simulator" (Packt) ### Video Courses - ROS2 Basics (YouTube) - Gazebo Fundamentals (Udemy) - MCP Server Development (Coming soon) ### Community - ROS Discourse: https://discourse.ros.org/ - Gazebo Community: https://community.gazebosim.org/ - Our Discord: [Link] - Our Slack: [Link] --- ## 🤝 Contributing to Tutorials Found an issue? Want to improve a tutorial? ### Report Issues ```bash # If you found an error or unclear section https://github.com/yourusername/gazebo-mcp/issues/new?template=tutorial_issue.md ``` ### Suggest Improvements ```bash # If you have ideas for better explanations or examples https://github.com/yourusername/gazebo-mcp/discussions ``` ### Contribute Content ```bash # Fork, improve, and submit PR 1. Fork repo 2. Create branch: tutorial-improvements 3. Make changes 4. Test thoroughly 5. Submit PR with description ``` **What We're Looking For**: - Clearer explanations - Better examples - More exercises - Additional troubleshooting tips - Translation to other languages - Video walkthroughs --- ## 📅 Update Schedule Tutorials are regularly updated to match: - Latest ROS2 releases - Gazebo updates - MCP Server new features - Community feedback **Check for Updates**: ```bash cd ~/gazebo-mcp git pull origin main cd tutorials ./check_updates.sh ``` --- ## 🎯 Tutorial Goals Alignment | Tutorial | Goal | Skills | Time | |----------|------|--------|------| | 1 | Get running quickly | Installation, basic control | 30m | | 2 | Understand sensors | Data access, visualization | 45m | | 3 | Create environments | World building, design | 60m | | 4 | Multi-agent systems | Coordination, communication | 60m | | 5 | Autonomous navigation | Path planning, Nav2 | 90m | | 6 | Advanced perception | Sensor fusion, SLAM | 90m | | 7 | Production-ready code | Optimization, profiling | 120m | | 8 | Extend functionality | API development, testing | 120m | | 9 | Complex navigation | Behavior trees, custom planners | 120m | | 10 | Deploy at scale | DevOps, monitoring | 120m | --- **Happy Learning!** 🚀 Start with [Tutorial 1: Getting Started](01_getting_started/) and begin your robotics journey today! *Questions? Issues? Feedback?* Open an issue or join our community chat!