robotmcp--ros-mcp-server
wehub-resource-sync
db1d565b64
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95 行
3.1 KiB
Markdown
95 行
3.1 KiB
Markdown
# Step 2: Setting Up Rosbridge
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Rosbridge runs on the **robot's machine** (wherever ROS is running). It provides a WebSocket interface that the MCP server on your machine connects to over the network.
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> **Prerequisite:** ROS must already be installed on the robot's machine. If you don't have ROS installed and want to try things out quickly, see the [Turtlesim Docker example](../../examples/5_docker_turtlesim/README.md) which runs ROS and rosbridge in a container.
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> **Important — rosbridge *and* rosapi are both required.** ros-mcp-server needs `rosbridge_server` (the WebSocket interface) **and** `rosapi` (the introspection services behind `get_nodes`, `get_topics`, `get_services`, `detect_ros_version`, parameter tools, etc.). The **launch file** used below starts both automatically. Do **not** start rosbridge with `ros2 run rosbridge_server ...` / `rosrun rosbridge_server ...` — those bring up the WebSocket *without* `rosapi`, and every introspection tool will fail with "Service does not exist". The `ros-<distro>-rosbridge-server` package pulls `rosapi` in as a dependency; if in doubt, install the full `ros-<distro>-rosbridge-suite` metapackage.
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## Install rosbridge_server
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For ROS 2 Jazzy:
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```bash
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# Update package list
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sudo apt update
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# Install rosbridge for ROS2 Jazzy
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sudo apt install ros-jazzy-rosbridge-server
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```
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For other ROS 2 distros:
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```bash
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# Install rosbridge for ROS2 Humble
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sudo apt install ros-humble-rosbridge-server
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```
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```bash
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# Install for other ROS distros
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sudo apt install ros-<your-distro>-rosbridge-server
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```
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> Using ROS 1? See [ROS 1 instructions](#ros-1-end-of-life) at the bottom of this page.
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## Launch rosbridge
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`source` your ROS workspace first to ensure that the rosbridge has access to your ROS system.
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```bash
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ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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```
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> Don't forget to `source` your ROS workspace before launching, especially if you're using custom messages or services.
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## Verify rosbridge is running
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From the robot's machine:
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```bash
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curl -I http://localhost:9090
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```
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A successful response confirms rosbridge is listening on its default port (9090).
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Also confirm `rosapi` is running — its services must be present for the MCP tools to work:
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```bash
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# ROS 2
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ros2 service list | grep rosapi
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# ROS 1
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rosservice list | grep rosapi
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```
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If this prints nothing, you launched rosbridge without `rosapi` — use the `ros2 launch` / `roslaunch` command above rather than `ros2 run` / `rosrun`.
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## Next Step
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Connect to your robot and test it out: [Step 3: Connect](connect.md)
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---
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### Advanced
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<details>
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<summary><strong>ROS 1 (End of Life)</strong></summary>
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#### Install rosbridge_server
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For ROS Noetic:
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```bash
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sudo apt install ros-noetic-rosbridge-server
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```
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For other ROS 1 distros:
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```bash
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sudo apt install ros-<your-distro>-rosbridge-server
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```
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#### Launch rosbridge
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```bash
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roslaunch rosbridge_server rosbridge_websocket.launch
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```
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> Don't forget to `source` your ROS workspace before launching, especially if you're using custom messages or services.
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</details>
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---
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[Back to Installation Guide](installation.md) | [Troubleshooting](troubleshooting.md)
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