ROS2 모델 Context Protocol Server for Gazebo Simulation

Claude와 같은 Enable AI 조수는 Gazebo 시뮬레이션, 스페인 및 모델, 쿼리 세계 및 물리학 속성, 드라이브 로봇을 제어하고 표준 MCP 인터페이스를 통해 센서 데이터를 수집합니다.

특징

서버는 5개의 범주에 걸쳐 ** 27 MCP 도구를 노출합니다 **. 유효한 MCP를 보십시오 전체 per-tool 목록을 위한 도구.

모델 관리

• URDF/SDF 파일 또는 XML 문자열에서 스파드 모델
• 목록, 삭제 및 시뮬레이션에 쿼리 모델
• 모형 pose 및 각측정속도 (teleport/set 각측정속도)를 놓으십시오
• 물리 테스트에 힘과 토크 적용

센서 통합

• Model/type에 의해 필터링이있는 센서 목록
• 최신 센서 데이터 (카메라, 깊이, RGBD, IMU, LiDAR, GPS, 접촉, 힘 / 토크, 자기계, altimeter, 소나)를 읽으십시오
• 센서 주제 및 캐시 스트림 데이터 구독

세계 도구

• 검증 및 로드 세계 파일; 현재 세계를 저장
• Query 물리학, 중력 및 현장 특성
• 세계 속성 업데이트 및 중력 벡터 설정 (Earth, Moon, Zero-g, custom)

Simulation 통제

• Pause, unpause 및 시뮬레이션

Gazebo MCP Server

ROS2 Model Context Protocol Server for Gazebo Simulation

Enable AI assistants like Claude to control Gazebo simulations, spawn and manage models, query world and physics properties, drive robots, and gather sensor data through a standardized MCP interface.

Features

The server exposes 27 MCP tools across 5 categories. See Available MCP Tools for the full per-tool list.

Model Management

• Spawn models from URDF/SDF files or XML strings
• List, delete, and query models in the simulation
• Set model pose and velocity (teleport / set velocity)
• Apply force and torque for physics testing

Sensor Integration

• List sensors with filtering by model/type
• Read latest sensor data (camera, depth, RGBD, IMU, LiDAR, GPS, contact, force/torque, magnetometer, altimeter, sonar)
• Subscribe to a sensor topic and cache streamed data

World Tools

• Validate and load world files; save the current world
• Query physics, gravity, and scene properties
• Update world properties and set the gravity vector (Earth, Moon, zero-g, custom)

Simulation Control

• Pause, unpause, and reset the simulation
• Set simulation speed and query simulation time / performance metrics
• Get comprehensive simulation status and list active worlds

ROS2 Tools

• List ROS2 topics and inspect topic info
• Publish velocity (twist) commands to drive a robot
• Look up TF transforms between coordinate frames
• Spawn models from SDF/URDF XML and read joint states

Developer Experience & Debugging

• Add and clear visual debug markers; highlight models
• Generate RViz2 launch and visualization-panel instructions
• Record and play back simulations via rosbag (ros2 bag commands)
• Save and restore simulation snapshots for regression testing
• Profile performance and identify bottlenecks

Note: Tools gracefully fall back to mock data when Gazebo is not running, so the server is usable for development and testing without a live simulator.

Quick Start

Prerequisites

• ROS2: Humble or Jazzy (LTS recommended)
• Gazebo: Modern Gazebo (Fortress, Garden, or Harmonic) - Primary Support
  • ⚠️ Classic Gazebo 11 is deprecated and will be removed in v2.0.0
• Python: 3.10 or higher
• OS: Ubuntu 22.04 or 24.04 (recommended)

Installation

There are two ways to install: pixi (recommended — self-contained, no apt/system ROS2 needed) or a manual ROS2 + pip setup.

---

Option A — pixi (recommended)