robotmcp
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 ![Static Badge](https://img.shields.io/badge/ROS2-Available-green)
 ![Static Badge](https://img.shields.io/badge/License-Apache%202.0-blue)
 ![Python](https://img.shields.io/badge/python-3.10%2B-blue)
+![pip](https://img.shields.io/badge/pip-23.0%2B-blue)
 ![Dev Container](https://img.shields.io/badge/Dev-Container%20Ready-blue)
 ![GitHub Repo stars](https://img.shields.io/github/stars/robotmcp/ros-mcp-server?style=social)
 ![GitHub last commit](https://img.shields.io/github/last-commit/robotmcp/ros-mcp-server)
 
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+# Installation from Source
+
+> ⚠️ **Prerequisite**: You need either ROS installed locally on your machine OR access over the network to a robot/computer with ROS installed. This MCP server connects to ROS systems on a robot, so a running ROS environment is required.
+
+This guide covers installing the ROS MCP Server from source code. For most users, we recommend using the [pip install method](installation.md) instead.
+
+## 1. Clone the Repository
+
+```bash
+git clone https://github.com/robotmcp/ros-mcp-server.git
+```
+
+> ⚠️ **WSL Users**: Clone the repository in your WSL home directory (e.g., `/home/username/`) instead of the Windows filesystem mount (e.g., `/mnt/c/Users/username/`). Using the native Linux filesystem provides better performance and avoids potential permission issues.
+
+Note the **absolute path** to the cloned directory — you'll need this later when configuring your language model client.
+
+## 2. Install UV (Python Virtual Environment Manager)
+
+You can install [`uv`](https://github.com/astral-sh/uv) using one of the following methods:
+
+<details>
+<summary><strong>Option A: Shell installer</strong></summary>
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+</details>
+
+<details>
+<summary><strong>Option B: Using pip</strong></summary>
+
+```bash
+pip install uv
+```
+
+</details>
+
+## 3. Install Dependencies
+
+Navigate to the cloned repository and install dependencies:
+
+```bash
+cd ros-mcp-server
+uv sync
+```
+
+## 4. Configure Language Model Client
+
+Any LLM client that supports MCP can be used. We use **Claude Desktop** for testing and development.
+
+### 4.1. Download Claude Desktop
+
+<details>
+<summary><strong>Linux (Ubuntu)</strong></summary>
+
+- Follow the installation instructions from the community-supported [claude-desktop-debian](https://github.com/aaddrick/claude-desktop-debian)
+
+</details>
+
+<details>
+<summary><strong>MacOS</strong></summary>
+
+- Download from [claude.ai](https://claude.ai/download)
+
+</details>
+
+<details>
+<summary><strong>Windows (Using WSL)</strong></summary>
+
+This will have Claude running on Windows and the MCP server running on WSL. We assume that you have cloned the repository and installed UV on your [WSL](https://apps.microsoft.com/detail/9pn20msr04dw?hl=en-US&gl=US)
+
+- Download from [claude.ai](https://claude.ai/download)
+
+</details>
+
+### 4.2. Configure Claude Desktop to launch the MCP server
+
+<details>
+<summary><strong>Linux (Ubuntu)</strong></summary>
+
+- Locate and edit the `claude_desktop_config.json` file:
+- (If the file does not exist, create it)
+```bash
+~/.config/Claude/claude_desktop_config.json
+```
+
+- Add the following to the `"mcpServers"` section of the JSON file
+- Make sure to replace `<ABSOLUTE_PATH>` with the **full absolute path** to your `ros-mcp-server` folder (note: `~` for home directory may not work in JSON files):
+
+```json
+{
+  "mcpServers": {
+    "ros-mcp-server": {
+      "command": "uv",
+      "args": [
+        "--directory",
+        "/<ABSOLUTE_PATH>/ros-mcp-server",
+        "run",
+        "server.py"
+      ]
+    }
+  }
+}
+```
+
+</details>
+
+<details>
+<summary><strong>MacOS</strong></summary>
+
+- Locate and edit the `claude_desktop_config.json` file:
+- (If the file does not exist, create it)
+```bash
+~/Library/Application\ Support/Claude/claude_desktop_config.json
+```
+
+- Add the following to the `"mcpServers"` section of the JSON file
+- Make sure to replace `<ABSOLUTE_PATH>` with the **full absolute path** to your `ros-mcp-server` folder (note: `~` for home directory may not work in JSON files):
+
+```json
+{
+  "mcpServers": {
+    "ros-mcp-server": {
+      "command": "uv",
+      "args": [
+        "--directory",
+        "/<ABSOLUTE_PATH>/ros-mcp-server",
+        "run",
+        "server.py"
+      ]
+    }
+  }
+}
+```
+
+</details>
+
+<details>
+<summary><strong>Windows (Using WSL)</strong></summary>
+
+- Locate and edit the `claude_desktop_config.json` file:
+- (If the file does not exist, create it)
+```bash
+~/.config/Claude/claude_desktop_config.json
+```
+
+- Add the following to the `"mcpServers"` section of the JSON file
+- Make sure to replace `<ABSOLUTE_PATH>` with the **full absolute path** to your `ros-mcp-server` folder (note: `~` for home directory may not work in JSON files):
+- Set the **full WSL path** to your `uv` installation (e.g., `/home/youruser/.local/bin/uv`)
+- Use the correct **WSL distribution name** (e.g., `"Ubuntu-22.04"`)
+
+```json
+{
+  "mcpServers": {
+    "ros-mcp-server": {
+      "command": "wsl",
+      "args": [
+        "-d", "Ubuntu-22.04",
+        "/home/<YOUR_USER>/.local/bin/uv",
+        "--directory",
+        "/<ABSOLUTE_PATH>/ros-mcp-server",
+        "run",
+        "server.py"
+      ]
+    }
+  }
+}
+```
+
+</details>
+
+### 4.3. Alternative Configuration - HTTP Transport
+
+The above configurations sets up the MCP server using the default STDIO transport layer, which launches the server as a plugin automatically on launching Claude.
+
+It is also possible to configure the MCP server using the http transport layer, which configures Claude to connect to the MCP server when it is launched as a standalone application.
+
+For HTTP transport, the configuration is the same across all platforms. First start the MCP server manually:
+
+**Linux/macOS/Windows(WSL):**
+```bash
+cd /<ABSOLUTE_PATH>/ros-mcp-server
+# Using command line arguments (recommended)
+uv run server.py --transport streamable-http --host 127.0.0.1 --port 9000
+
+# Or using environment variables (legacy)
+export MCP_TRANSPORT=streamable-http
+export MCP_HOST=127.0.0.1
+export MCP_PORT=9000
+uv run server.py
+```
+
+Then configure Claude Desktop to connect to the HTTP server (same for all platforms):
+
+```json
+{
+  "mcpServers": {
+    "ros-mcp-server-http": {
+      "name": "ROS-MCP Server (http)",
+      "transport": "http",
+      "url": "http://127.0.0.1:9000/mcp"
+    }
+  }
+}
+```
+
+<details>
+<summary> Comparison between STDIO and HTTP Transport</summary>
+
+#### STDIO Transport (Default)
+- **Best for**: Local development, single-user setups
+- **Pros**: Simple setup, no network configuration needed
+- **Cons**: MCP server and LLM/MCP client need to be running on the local machine.
+- **Use case**: Running MCP server directly with your LLM client
+
+#### HTTP/Streamable-HTTP Transport
+- **Best for**: Remote access, multiple clients, production deployments
+- **Pros**: Network accessible, multiple clients can connect
+- **Cons**: Requires network configuration, MCP server needs to be run independently.
+- **Use case**: Remote robots, team environments, web-based clients
+
+</details>
+
+### 4.4. Test the connection
+- Launch Claude Desktop and check connection status.
+- The ros-mcp-server should be visible in your list of tools.
+
+<p align="center">
+  <img src="https://github.com/robotmcp/ros-mcp-server/blob/main/docs/images/connected_mcp.png" width="500"/>
+</p>
+
+<details>
+<summary><strong> Troubleshooting </strong></summary>
+
+- If the `ros-mcp-server` doesn't appear even after correctly configuring `claude_desktop_config.json`, try completely shutting down Claude Desktop using the commands below and then restarting it. This could be a Claude Desktop caching issue.
+```bash
+# Completely terminate Claude Desktop processes
+pkill -f claude-desktop
+# Or alternatively
+killall claude-desktop
+
+# Restart Claude Desktop
+claude-desktop
+```
+
+</details>
+
+## Next Steps
+
+Once you have the MCP server installed from source, continue with the remaining setup steps:
+
+- **Install and run rosbridge** (on the target robot)
+- **Test your connection**
+- **Troubleshooting** (if needed)
+
+For detailed instructions on these steps, see the [main installation guide](installation.md#3-install-and-run-rosbridge-on-the-target-robot-where-ros-will-be-running).