ROS MCP Server

#!/bin/bash # Simple macOS startup script for turtlesim GUI # This script handles all the X11 forwarding complexity automatically set -e echo "Starting Turtlesim on macOS with GUI" echo "========================================" # Function to detect display number detect_display() { if pgrep -f "Xquartz :1" > /dev/null; then echo "1" elif pgrep -f "Xquartz :0" > /dev/null; then echo "0" else echo "0" # Default fallback fi } # Function to get machine IP get_machine_ip() { # Try en0 first (most common) local ip=$(ifconfig en0 2>/dev/null | grep 'inet ' | awk '{print $2}' | head -n1) # If en0 doesn't work, try other interfaces if [[ -z "$ip" ]]; then ip=$(ifconfig 2>/dev/null | grep 'inet ' | grep -v '127.0.0.1' | awk '{print $2}' | head -n1) fi echo "$ip" } # Step 1: Start XQuartz if not running if ! pgrep -x "X11.bin" > /dev/null; then echo "Starting XQuartz..." open -a XQuartz # Wait for XQuartz to start (up to 10 seconds) for i in {1..10}; do if pgrep -x "X11.bin" > /dev/null; then echo "XQuartz started" break fi echo " Waiting for XQuartz... ($i/10)" sleep 1 done if ! pgrep -x "X11.bin" > /dev/null; then echo "ERROR: XQuartz failed to start. Please start it manually." exit 1 fi else echo "XQuartz already running" fi # Step 2: Detect display number and machine IP DISPLAY_NUM=$(detect_display) MACHINE_IP=$(get_machine_ip) if [[ -z "$MACHINE_IP" ]]; then echo "ERROR: Could not detect machine IP address" echo "Please run: ifconfig en0 | grep inet" exit 1 fi echo "Display detected: :$DISPLAY_NUM" echo "Machine IP: $MACHINE_IP" # Step 3: Set up X11 permissions export DISPLAY=:$DISPLAY_NUM if command -v xhost >/dev/null 2>&1; then echo "Allowing X11 connections..." xhost + >/dev/null 2>&1 || echo "WARNING: xhost command failed, but continuing..." else echo "WARNING: xhost not found - X11 forwarding may not work" fi # Step 4: Export DISPLAY for Docker export DISPLAY="$MACHINE_IP:$DISPLAY_NUM" echo "Docker will use DISPLAY=$DISPLAY" # Step 5: Start the container echo "" echo "Starting Turtlesim container..." echo " If successful, you should see a window with a turtle!" echo "" docker compose up turtlesim echo "" echo "Done! The turtle window should be visible on your screen."