### Launch turtlesim node (ROS 1)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Starts the turtlesim simulation environment for ROS 1. This is a common 'hello-world' example for testing ROS functionalities.

```bash
rosrun turtlesim turtlesim_node
```

--------------------------------

### Run ROS-MCP Server

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Starts the ROS-MCP server using different methods depending on the operating system and installed tools. It can be run with 'uv' for faster execution or directly with Python.

```bash
$env:MCP_TRANSPORT="streamable-http"
```

```bash
uv run server.py
```

```bash
python server.py
```

```bash
export MCP_TRANSPORT="streamable-http"
uv run server.py
```

```bash
cd scripts
launch_mcp_server.sh
```

--------------------------------

### Clone ROS-MCP Server Repository

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Clones the ROS-MCP Server repository from GitHub and navigates into the downloaded directory. This is the first step in setting up the ROS-MCP server locally.

```bash
git clone https://github.com/robotmcp/ros-mcp-server.git
cd ros-mcp-server
```

--------------------------------

### Tunnel ROS-MCP Server with ngrok

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Launches ngrok to create a tunnel for the ROS-MCP server, exposing it via a public URL. It sets the local port and ngrok domain, then starts the HTTP tunnel.

```bash
$env:MCP_PORT=9000
$env:MCP_DOMAIN=<YOUR_DOMAIN>
```

```bash
ngrok http --url=$env:MCP_DOMAIN $env:MCP_PORT
```

```bash
export MCP_PORT=9000
export MCP_DOMAIN=<YOUR_DOMAIN>
```

```bash
ngrok http --url=${MCP_DOMAIN} ${MCP_PORT}
```

```bash
launch_mcp_tunnel_.sh
```

--------------------------------

### Install ngrok on Linux

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Installs the ngrok agent on Linux systems using the apt package manager or snap. ngrok is used to expose local servers to the internet.

```bash
curl -sSL https://ngrok-agent.s3.amazonaws.com/ngrok.asc \
  | sudo tee /etc/apt/trusted.gpg.d/ngrok.asc >/dev/null \
  && echo "deb https://ngrok-agent.s3.amazonaws.com bookworm main" \
  | sudo tee /etc/apt/sources.list.d/ngrok.list \
  && sudo apt update \
  && sudo apt install ngrok
```

```bash
sudo snap install ngrok
```

--------------------------------

### Execute ROS Launch Script

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

This code snippet represents a custom script, likely named 'launch_ros.sh', used to initiate ROS processes. The exact commands within this script are not detailed but it serves as a convenient way to start the ROS environment.

```bash
launch_ros.sh
```

--------------------------------

### Launch turtlesim node (ROS 2)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Starts the turtlesim simulation environment for ROS 2. It's a simple way to test ROS communication without complex dependencies.

```bash
ros2 run turtlesim turtlesim_node
```

--------------------------------

### Install uv Package Manager

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Installs the 'uv' package manager on Windows using winget or pip, and on Linux using a script, pip, or snap. 'uv' is a fast Python package installer and resolver.

```bash
winget install --id=astral-sh.uv -e
```

```bash
pip install uv
```

```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```

```bash
sudo snap install --classic astral-uv
```

--------------------------------

### Clone ros-mcp-server Repository

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Clones the ros-mcp-server repository from GitHub using Git. This is the first step in setting up the server.

```bash
git clone https://github.com/robotmcp/ros-mcp-server.git
```

--------------------------------

### Launch Turtlesim Node (ROS1)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Launches the Turtlesim simulator node in a ROS1 environment. Requires sourcing the ROS1 environment setup script before execution.

```bash
source /opt/ros/noetic/setup.bash # or /opt/ros/<ros_distro>/setup.bash
rosrun turtlesim turtlesim_node
```

--------------------------------

### Start TurtleSim Docker Container

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Launches the Docker container, which automatically starts TurtleSim and the rosbridge websocket server. It assumes the container is already built.

```bash
docker compose up
```

--------------------------------

### Launch Turtlesim Node (ROS2)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Launches the Turtlesim simulator node in a ROS2 environment. Requires sourcing the ROS2 environment setup script before execution.

```bash
source /opt/ros/humble/setup.bash  # or /opt/ros/jazzy/setup.bash
ros2 run turtlesim turtlesim_node
```

--------------------------------

### Explore ROS Services (ROS1)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Lists all available ROS services and retrieves information about the `/turtle1/set_pen` service in a ROS1 environment. Assumes Turtlesim is running.

```bash
# List all services
rosservice list

# Get information about a specific service
rosservice info /turtle1/set_pen
```

--------------------------------

### Installing X11 Forwarding Apps (WSL)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command installs necessary applications for X11 forwarding on Windows Subsystem for Linux (WSL), which is required for graphical applications like Turtlesim to display correctly.

```bash
sudo apt install x11-apps
```

--------------------------------

### Explore ROS Services (ROS2)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Lists all available ROS services and retrieves the type of the `/turtle1/set_pen` service in a ROS2 environment. Assumes Turtlesim is running.

```bash
# List all services
ros2 service list

# Get information about a specific service
ros2 service type /turtle1/set_pen
```

--------------------------------

### Start XQuartz and Allow Localhost Connections (macOS)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Starts the XQuartz application and configures it to allow connections from localhost. This is necessary for running Dockerized graphical applications on macOS.

```bash
# Start XQuartz
open -a XQuartz

# Allow connections from localhost
xhost +localhost
```

--------------------------------

### Explore ROS Topics (ROS1)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Lists all available ROS topics and echoes data from the turtle's pose and command velocity topics in a ROS1 environment. Assumes Turtlesim is running.

```bash
# Source ROS environment
source /opt/ros/noetic/setup.bash

# List all topics
rostopic list

# Monitor turtle position
rostopic echo /turtle1/pose

# Monitor velocity commands
rostopic echo /turtle1/cmd_vel
```

--------------------------------

### Install uv Python Virtual Environment Manager

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Provides two methods for installing the uv Python virtual environment manager: using a shell installer script or via pip.

```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```

```bash
pip install uv
```

--------------------------------

### Verifying ROS Installation (ROS1)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command checks the installed ROS version for ROS1 systems, which can be helpful for troubleshooting environment-related issues.

```bash
rosversion -d
```

--------------------------------

### Robot Setup and Customization Commands (Natural Language)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

These natural language commands enable users to configure the robot's environment and appearance, such as resetting its position, changing pen color, spawning new turtles, or clearing the background. They interact with the ROS system through the MCP Server.

```natural_language
Reset the turtle to the center
```

```natural_language
Change the turtle's pen color to red
```

```natural_language
Spawn a new turtle
```

```natural_language
Clear the background
```

--------------------------------

### Diagnosing ROS2 Installation Issues

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command runs a diagnostic tool for ROS2 installations, providing a report that can help identify and resolve common ROS-related problems.

```bash
ros2 doctor --report
```

--------------------------------

### Launch ROS Bridge and Turtlesim in WSL

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

This snippet demonstrates how to launch the rosbridge server and the turtlesim node within a WSL environment. It requires sourcing the ROS 2 Jazzy setup and then executing the launch command. The ampersand '&' allows both processes to run concurrently.

```bash
source /opt/ros/jazzy/setup.bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml & ros2 run turtlesim turtlesim_node
```

--------------------------------

### Explore ROS Topics (ROS2)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

Lists all available ROS topics and echoes data from the turtle's pose and command velocity topics in a ROS2 environment. Assumes Turtlesim is running.

```bash
# Source ROS2 environment (adjust for your version)
source /opt/ros/humble/setup.bash  # or /opt/ros/jazzy/setup.bash

# List all topics
ros2 topic list

# Monitor turtle position
ros2 topic echo /turtle1/pose

# Monitor velocity commands
ros2 topic echo /turtle1/cmd_vel
```

--------------------------------

### Source ROS2 Environment and List Topics

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Sources the ROS2 Humble environment and lists all available ROS2 topics. This is a foundational step for interacting with ROS2 systems.

```bash
source /opt/ros/humble/setup.bash
ros2 topic list
```

--------------------------------

### Configure ngrok Authtoken

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Activates the ngrok agent by adding your authentication token. This command is essential for connecting ngrok to your account and enabling its features.

```bash
ngrok config add-authtoken <YOUR_AUTHTOKEN>
```

--------------------------------

### Launch LIMO Base Driver

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Starts the core driver for the LIMO robot's base functionalities. This is a prerequisite for robot control.

```bash
roslaunch limo_base limo_start.launch
```

--------------------------------

### Install rosbridge_server for ROS 2

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Installs the rosbridge_server package for ROS 2 Humble and other ROS distributions. This package enables MCP to interface with ROS 2 through WebSockets.

```bash
sudo apt install ros-humble-rosbridge-server
```

```bash
sudo apt install ros-${ROS_DISTRO}-rosbridge-server
```

--------------------------------

### Launch rosbridge Websocket Server

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Starts the rosbridge server to enable communication between ROS and external applications via WebSockets. This is crucial for connecting the MCP server.

```bash
roslaunch rosbridge_server rosbridge_websocket.launch
```

--------------------------------

### Echo Turtlesim Pose and Velocity Topics

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Subscribes to and displays messages from the '/turtle1/pose' and '/turtle1/cmd_vel' topics, allowing observation of turtle movement and commands.

```bash
ros2 topic echo /turtle1/pose
ros2 topic echo /turtle1/cmd_vel
```

--------------------------------

### Build Docker Container for TurtleSim

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Builds the Docker container for the TurtleSim example. This command ensures a clean build without using cached layers.

```bash
cd examples/5_docker_turtlesim
docker compose build --no-cache turtlesim
```

--------------------------------

### Install rosbridge_server for ROS 1

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Installs the rosbridge_server package for ROS Noetic and other ROS distributions. This package is essential for MCP to communicate with ROS via WebSocket.

```bash
sudo apt install ros-noetic-rosbridge-server
```

```bash
sudo apt install ros-${ROS_DISTRO}-rosbridge-server
```

--------------------------------

### Sourcing ROS Environment

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command is crucial for setting up the ROS environment variables in the current terminal session. It ensures that ROS commands and packages are accessible.

```bash
source /opt/ros/[version]/setup.bash
```

--------------------------------

### Configure MCP Server in Claude Desktop (JSON)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

This snippet shows how to add the ros-mcp-server configuration to the Claude Desktop JSON settings. It specifies the command to launch the server using WSL, including the distribution, Python environment, and the directory of the ros-mcp-server.

```json
{
  "mcpServers": {
    "ros-mcp-server": {
      "command": "wsl",
      "args": [
        "-d", "Ubuntu-22.04",
        "/home/youruser/.local/bin/uv",
        "--directory",
        "/<ABSOLUTE_PATH>/ros-mcp-server",
        "run",
        "server.py"
      ]
    }
  }
}
```

--------------------------------

### Install rosbridge-server on Unitree GO2

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Installs the rosbridge_server package on the Unitree GO2 robot using apt. This package provides WebSocket and TCP servers for ROS communication, enabling interaction with external applications like ros-mcp-server.

```bash
sudo apt install ros-foxy-rosbridge-server
```

--------------------------------

### Terminate Claude Desktop Processes

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/installation.md

Commands to completely terminate Claude Desktop processes, useful for troubleshooting connection issues. Includes using pkill and killall.

```bash
# Completely terminate Claude Desktop processes
pkill -f claude-desktop
# Or alternatively
killall claude-desktop
```

--------------------------------

### Install and Activate SSH Server

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Installs the OpenSSH server on the LIMO robot and enables its service to allow remote connections from the user PC. This facilitates file transfer and remote command execution.

```bash
sudo apt update
    sudo apt install openssh-server
    sudo systemctl enable ssh
    sudo systemctl start ssh
    sudo systemctl status ssh
```

--------------------------------

### Configure ROS-MCP Server Environment Variables (Linux)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Sets multiple environment variables in WSL (Linux) for the ROS-MCP server, including host, port, and domain. These variables should typically be added to the .bashrc file for persistence.

```bash
export MCP_HOST=127.0.0.1
export MCP_PORT=9000
export MCP_DOMAIN=abc123xyz789.ngrok-free.app
```

--------------------------------

### Replace LIMO Launch Files

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Replaces the default `limo_base.launch` and `limo_start.launch` files on the LIMO robot with modified versions. These files are essential for launching and configuring the LIMO robot's ROS nodes.

```bash
cd /<ABSOLUTE_PATH>/ros-mcp-server
    scp ./examples/limo/launch/limo_base.launch \
        <ROBOT_NAME>@<LIMO_IP>:~/catkin_ws/src/limo_base/launch/
    scp ./examples/limo/launch/limo/limo_start.launch \
        <ROBOT_NAME>@<LIMO_IP>:~/catkin_ws/src/limo_bringup/launch/
```

--------------------------------

### Start cmd_vel Repeater

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Runs the Python script responsible for repeating velocity commands. This facilitates command propagation within the ROS system.

```bash
rosrun limo_base cmd_vel_repeat.py
```

--------------------------------

### Set MCP_DOMAIN Environment Variable

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/6_chatgpt/README.md

Sets the MCP_DOMAIN environment variable on Windows (PowerShell) and Linux (bash) to your ngrok public domain. This variable is used by the ROS-MCP server to configure its network endpoint.

```bash
$env:MCP_DOMAIN=abc123xyz789.ngrok-free.app
```

```bash
export MCP_DOMAIN=abc123xyz789.ngrok-free.app
```

--------------------------------

### Clone Unitree GO2 ROS2 Package

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Clones the official Unitree ROS2 package ('unitree_go') from GitHub. This is the first step to get the necessary code for controlling the Unitree GO2 robot.

```bash
git clone https://github.com/unitreerobotics/unitree_ros2.git
```

--------------------------------

### Allow Docker Connections (Linux)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Configures the X server to allow local Docker containers to connect and display graphical applications. This is a common step for enabling X11 forwarding.

```bash
xhost +local:docker
```

--------------------------------

### Ruff Local Setup

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Commands for setting up Ruff for local development, either automatically fixing issues on commit using pre-commit or manually applying formatting and checks.

```bash
pre-commit install
```

```bash
ruff format . && ruff check --fix .
```

--------------------------------

### Manually Launch TurtleSim Nodes

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Provides commands to manually launch the TurtleSim node and the teleoperation node within the container. This is an alternative to the automatic launch script.

```bash
# Access the container
docker exec -it ros2-turtlesim bash

# Source ROS2 environment
source /opt/ros/humble/setup.bash

# Start turtlesim in one terminal
ros2 run turtlesim turtlesim_node

# In another terminal, start the teleop node
ros2 run turtlesim turtle_teleop_key
```

--------------------------------

### Inspect ROS2 Topics

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Commands to access the Docker container and inspect ROS2 topics. This is useful for debugging and verifying that ROS2 nodes are communicating.

```bash
# Access the container
docker exec -it ros2-turtlesim bash
```

--------------------------------

### Transfer and Make Executable Helper Script

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Copies the `cmd_vel_repeat.py` script from the user PC to the LIMO robot's workspace and sets execute permissions. This script helps in re-publishing `cmd_vel` commands at a fixed frequency for stable motor control.

```bash
cd /<ABSOLUTE_PATH>/ros-mcp-server
    scp ./examples/limo/scripts \
        <ROBOT_NAME>@<LIMO_IP>:~/catkin_ws/src/limo_base
    ssh <ROBOT_NAME>@<LIMO_IP> \
        "chmod +x ~/catkin_ws/src/limo_base/scripts/cmd_vel_repeat.py"
```

--------------------------------

### Launch DaBai U3 Camera Node

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Launches the DaBai U3 depth camera node, which is standard for LIMO robots. This enables visual data acquisition.

```bash
roslaunch astra_camera dabai_u3.launch
```

--------------------------------

### Access and Execute Commands within TurtleSim Container

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Starts the Docker container in detached mode and then attaches a bash shell to the running 'ros2-turtlesim' container for interactive commands.

```bash
docker compose up -d
docker exec -it ros2-turtlesim bash
```

--------------------------------

### Robot Information Queries (Natural Language)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

These natural language queries allow users to ask the AI assistant for information about the robot's current state, available topics and services, and its position. These queries leverage the ROS MCP Server to retrieve data from the robot.

```natural_language
Tell me about this robot.
```

```natural_language
What topics and services are available on the robot?
```

```natural_language
What is the turtle's current position?
```

--------------------------------

### Build Unitree GO2 ROS2 Package

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Builds the 'unitree_go' ROS2 package within the specified workspace on the Unitree GO2 robot using 'colcon build'. Ensures the package is compiled and ready for use.

```bash
cd ~/cyclonedds_ws
colcon build --symlink-install
```

--------------------------------

### Monitoring ROS Topics

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command allows you to subscribe to and view the messages being published on a specific ROS topic in real-time. It's useful for debugging and understanding the data flow within the ROS system.

```bash
rostopic echo
```

--------------------------------

### Enabling X11 Forwarding via SSH

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This command demonstrates how to use SSH with the -X flag to enable X11 forwarding, allowing graphical applications running on a remote server to be displayed on the local machine.

```bash
ssh -X username@hostname
```

--------------------------------

### Move Unitree GO2 Package to Workspace

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Copies the 'unitree' package from the cloned repository to the specified workspace directory on the Unitree GO2 robot. Requires SSH access to the robot.

```bash
cd unitree_ros2/cyclonedds_ws/src/
scp -r unitree unitree@192.168.123.18:/home/unitree/cyclonedds_ws/src/
```

--------------------------------

### Verify Network Connection with Ping

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Checks network connectivity between the user PC and the LIMO robot by sending ICMP echo requests. This step is crucial before proceeding with ROS network setup to ensure communication is established.

```bash
ping <LIMO_IP>   # e.g., ping 192.168.0.20
```

--------------------------------

### Stop and Remove Docker Resources

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Commands to stop and remove the Docker Compose stack and the built Docker image for the ROS MCP server and Turtlesim.

```bash
docker-compose down
docker rmi ros-mcp-server_turtlesim
```

--------------------------------

### Basic Robot Movement Commands (Natural Language)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

These are natural language commands that can be used to control basic turtle movements like forward, backward, turning, and stopping. They are designed to be interpreted by an AI assistant connected to the ROS MCP Server.

```natural_language
Move the turtle forward
```

```natural_language
Turn the turtle left
```

```natural_language
Make the turtle go backward
```

```natural_language
Stop the turtle
```

--------------------------------

### Source ROS2 Workspace

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Sources the ROS2 environment variables from the '.bashrc' file on the Unitree GO2 robot. This makes ROS2 commands and package functionalities available in the current terminal session.

```bash
source ~/.bashrc
```

--------------------------------

### Launch Turtle Teleoperation

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Launches the turtle teleoperation node within the ROS2 environment inside the container. This allows controlling the turtle using keyboard input.

```bash
source /opt/ros/humble/setup.bash
ros2 run turtlesim turtle_teleop_key
```

--------------------------------

### Verify Rosbridge Server Container Logs

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Checks the logs of the Docker container running the ROS2 Turtlesim simulation to verify the rosbridge websocket server is active.

```bash
docker logs ros2-turtlesim
```

--------------------------------

### Run Camera Bridge Script

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Executes the 'camera_bridge.py' script on the Unitree GO2 robot. This script bridges the robot's proprietary camera stream to a standard ROS2 topic, typically `/camera/rgb/image_raw`.

```bash
cd ~/cyclonedds_ws/src/image_process/
python3 camera_bridge.py
```

--------------------------------

### Advanced Robot Control Commands (Natural Language)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/1_turtlesim/README.md

This set of natural language commands allows for more complex robot behaviors, including drawing geometric shapes like squares, navigating to specific coordinates, and creating dynamic patterns such as spirals. These commands require more sophisticated interpretation by the AI assistant.

```natural_language
Draw a square with the turtle
```

```natural_language
Move the turtle to position (5, 5)
```

```natural_language
Make the turtle follow a circular path
```

```natural_language
Draw a spiral pattern
```

--------------------------------

### Transfer Camera Bridge Script

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Copies the 'camera_bridge.py' script from the user's PC to the Unitree GO2 robot's workspace. This script is used to convert the robot's custom camera topic to a standard ROS2 topic.

```bash
cd /<ABSOLUTE_PATH>/ros-mcp-server/examples/unitree_go2/real_robot/scripts
scp ./camera_bridge.py unitree@192.168.123.18:/home/unitree/cyclonedds_ws/src/image_process/
```

--------------------------------

### Launch Rosbridge WebSocket

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Launches the rosbridge_server on the Unitree GO2 robot using ROS2. This enables WebSocket communication, allowing external clients like the ROS MCP Server to connect and interact with the robot's ROS ecosystem.

```bash
# Launch rosbridge
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```

--------------------------------

### Configure ROS Master URI and IP

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Sets the ROS_MASTER_URI and ROS_IP environment variables on the LIMO robot to enable ROS communication. These variables are essential for ROS nodes to find the ROS master and communicate with each other.

```bash
echo "export ROS_MASTER_URI=http://<LIMO_IP>:11311" >> ~/.bashrc
    echo "export ROS_IP=<LIMO_IP>" >> ~/.bashrc
    source ~/.bashrc
```

--------------------------------

### Connect to Robot via SSH

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/real_robot/README.md

Establishes an SSH connection from the user PC to the LIMO robot using the robot's username and IP address. This allows for secure remote access and management of the robot.

```bash
ssh <ROBOT_NAME>@<LIMO_IP> # e.g., ssh agilex@192.168.0.20
```

--------------------------------

### Convert Shell Script (Linux/WSL)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Converts the line endings of a shell script to Unix format. This is often required in WSL or other Linux environments when dealing with files from Windows.

```bash
dos2unix docker/scripts/launch_turtlesim.sh
```

--------------------------------

### Create Git Branch

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Command to create a new Git branch for isolating changes during development. This is a standard Git operation and does not have external dependencies beyond a Git installation.

```bash
git checkout -b "your_branch_name"
```

--------------------------------

### Set DISPLAY Environment Variable (Windows/PowerShell)

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/5_docker_turtlesim/README.md

Sets the DISPLAY environment variable in PowerShell for Windows users to enable graphical output from the Docker container. This is necessary for applications like TurtleSim to display correctly.

```powershell
$env:DISPLAY="host.docker.internal:0.0"
```

--------------------------------

### Check Network Connectivity via Ping

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Verifies network connectivity to the Unitree GO2 robot by sending ICMP echo requests. This command helps confirm that the robot is reachable on the network at its assigned IP address.

```bash
ping 192.168.123.18
```

--------------------------------

### SSH Access to Unitree GO2 Robot

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/4_unitree_go2/real_robot/README.md

Establishes an SSH connection to the Unitree GO2 robot for remote access and control. It uses the default username 'unitree' and the robot's IP address. The '-X' flag enables X11 forwarding for graphical applications.

```bash
ssh -X unitree@192.168.123.18
```

--------------------------------

### List ROS2 Topics

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/isaac_sim/README.md

Lists all available ROS2 topics in the current environment. This is useful for verifying that the LIMO robot simulation has correctly published its topics.

```bash
ros2 topic list
```

--------------------------------

### Apply Ruff Formatting

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Command to format the project files according to Ruff's default or configured style. This is typically run before committing changes.

```bash
ruff format .
```

--------------------------------

### Launch Rosbridge WebSocket

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/isaac_sim/README.md

Launches the rosbridge_server, specifically the rosbridge_websocket_launch.xml file. This enables WebSocket communication, allowing external applications like the ROS MCP Server to connect to the ROS environment.

```bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```

--------------------------------

### Update Gemini CLI MCP Settings

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/2_gemini/README.md

This snippet shows how to update the `settings.json` file for Gemini CLI to include the ROS-MCP-Server configuration. It specifies the command and arguments needed to run the server.

```json
{
  "mcpServers": {
    "ros-mcp-server": {
      "command": "uv",
      "args": [
        "--directory",
        "/<ABSOLUTE_PATH>/ros-mcp-server",
        "run",
        "server.py"
      ]
    }
  }
}
```

--------------------------------

### Ruff Linting and Formatting Checks

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Commands to check code formatting and linting using Ruff. These commands ensure code adheres to project style guidelines and identify potential issues.

```bash
ruff format --check .
```

```bash
ruff check .
```

--------------------------------

### Run Isaac Sim Headless Mode

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/isaac_sim/README.md

Executes the Isaac Sim container in headless mode for streaming. This command initiates the simulation environment without a graphical display, preparing it for remote access.

```bash
./runheadless.sh -v
```

--------------------------------

### Copy LIMO USD File to Isaac Sim Container

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/isaac_sim/README.md

Copies the LIMO robot's USD file into the running Isaac Sim Docker container. This makes the robot model accessible within the simulation environment.

```bash
cd /<ABSOLUTE_PATH>/ros-mcp-server/examples/limo/isaac_sim/usd/
docker exec <container_name> mkdir -p /example
docker cp ./limo_example.usd <container_name>:/example/limo_example.usd
```

--------------------------------

### Execute Isaac Sim WebRTC Streaming Client

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/examples/3_limo_mobile_robot/isaac_sim/README.md

Launches the Isaac Sim WebRTC streaming client application. This client connects to the running Isaac Sim instance, allowing for remote visualization and control of the simulation.

```bash
./isaacsim-webrtc-streaming-client-1.1.4-linux-x64.AppImage
```

--------------------------------

### Push Git Branch

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Command to push the local branch with committed changes to the remote repository (origin). This requires a connection to the remote repository.

```bash
git push origin "your_branch_name"
```

--------------------------------

### Commit Git Changes

Source: https://github.com/robotmcp/ros-mcp-server/blob/main/docs/contributing.md

Command to commit staged changes in Git with a descriptive message. This is a fundamental Git operation.

```bash
git commit -m "your_commit_message"
```

=== COMPLETE CONTENT === This response contains all available snippets from this library. No additional content exists. Do not make further requests.