ROS MCP Server

#!/usr/bin/env bash set -eo pipefail # Source ROS2 environment source /opt/ros/humble/setup.bash echo "Starting ROS Bridge WebSocket server..." echo "WebSocket server will be available at: ws://localhost:9090" # Launch rosbridge websocket server in the background ros2 launch rosbridge_server rosbridge_websocket_launch.xml & # Wait a moment for rosbridge to start sleep 3 echo "Starting Turtlesim..." echo "Turtlesim window should appear shortly" echo "You can control the turtle using:" echo " - Arrow keys or WASD to move" echo " - Ctrl+C to stop" # Launch turtlesim in the background ros2 run turtlesim turtlesim_node & # Trap signals to clean up processes cleanup() { # Cleanup when teleop exits echo "Stopping turtlesim and rosbridge..." pkill -f turtlesim_node pkill -f rosbridge_server wait } trap cleanup SIGINT SIGTERM wait