From b90dc09efa02bd5c72c6c4fc3f612f7096d0caff Mon Sep 17 00:00:00 2001 From: tracelarue Date: Wed, 24 Sep 2025 10:40:11 -0500 Subject: [PATCH 01/13] Added Gemini Live with ros-mcp-server example to Gemini example. --- examples/2_gemini/gemini_live/README.md | 100 +++ examples/2_gemini/gemini_live/gemini_live.py | 509 +++++++++++ examples/2_gemini/gemini_live/mcp_config.json | 13 + examples/2_gemini/gemini_live/mcp_handler.py | 106 +++ examples/2_gemini/gemini_live/pyproject.toml | 17 + examples/2_gemini/gemini_live/uv.lock | 849 ++++++++++++++++++ 6 files changed, 1594 insertions(+) create mode 100644 examples/2_gemini/gemini_live/README.md create mode 100644 examples/2_gemini/gemini_live/gemini_live.py create mode 100644 examples/2_gemini/gemini_live/mcp_config.json create mode 100644 examples/2_gemini/gemini_live/mcp_handler.py create mode 100644 examples/2_gemini/gemini_live/pyproject.toml create mode 100644 examples/2_gemini/gemini_live/uv.lock diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md new file mode 100644 index 0000000..6d55835 --- /dev/null +++ b/examples/2_gemini/gemini_live/README.md @@ -0,0 +1,100 @@ +# Gemini Live with ROS MCP Server + +Control ROS robots with voice commands using Google's Gemini Live API. + +**Pre-requisites** See the [installation instructions](../../../docs/installation.md) for detailed setup steps. + +**Tested In:** Ubuntu 22.04, Python 3.10, ROS2 Humble + +## Quick Setup + +1. **Install ROS MCP Server**: Follow the [installation guide](../../../docs/installation.md) + +2. **Get Google API Key**: Visit [Google AI Studio](https://aistudio.google.com) and create an API key + +3. **Create `.env` file**: + ```env + GOOGLE_API_KEY="your_google_api_key_here" + ``` + +4. **Create `mcp_config.json`**:Replace `/absolute/path/to/ros-mcp-server` with your actual path. + ```json + { + "mcpServers": { + "ros-mcp-server": { + "command": "uv", + "args": [ + "--directory", + "/home/trace/ros-mcp-server", + "run", + "server.py" + ] + } + } + } + ``` + +## Usage + +**Start Gemini Live:** +```bash +cd ros-mcp-server/examples/2_gemini/gemini_live +uv run gemini_live.py --mode=none +``` + +**Video modes:** +- `--mode=none` - Audio only +- `--mode=camera` - Include camera +- `--mode=screen` - Include screen capture + +**Example Voice commands:** +- "Connect to the robot on ip _ and port _ " +- "List all available tools" +- "What ROS topics are available?" +- "Go to the kitchen" +- "Move forward at 1 m/s for 1 s" + +Type `q` + Enter to quit. + +## Test with Turtlesim + +**Start rosbridge and turtlesim** (separate terminals): +```bash +# Terminal 1: Launch rosbridge +ros2 launch rosbridge_server rosbridge_websocket_launch.xml + +# Terminal 2: Start turtlesim +ros2 run turtlesim turtlesim_node +``` + +**Try these voice commands:** +- "Connect to the robot on ip _ and port _ " +- "What ROS topics are available?" +- "Move the turtle forward at 1 m/s and 0 rad/s" +- "Rotate the turtle at 3 rad/s" +- "Change the pen color to red" + + +See [Turtlesim Tutorial](../../1_turtlesim/README.md) for more examples. + +## Troubleshooting + +**Not responding to voice?** +- Check microphone permissions and volume +- Test: `arecord -d 5 test.wav && aplay test.wav` + +**Robot not moving?** +- Verify robot/simulation is running +- Check rosbridge is running: `ros2 launch rosbridge_server rosbridge_websocket_launch.xml` +- Check: `ros2 topic list` +- Ask: "List all available tools" to verify MCP connection + +**API key errors?** +- Verify `.env` file exists with correct key +- Check key is active in Google AI Studio + +**Virtual environment issues?** +- Exit any active environments: `deactivate` +- UV creates its own environment automatically + + diff --git a/examples/2_gemini/gemini_live/gemini_live.py b/examples/2_gemini/gemini_live/gemini_live.py new file mode 100644 index 0000000..bae468e --- /dev/null +++ b/examples/2_gemini/gemini_live/gemini_live.py @@ -0,0 +1,509 @@ +import argparse +import asyncio +import base64 +import io +import os +import sys +import traceback + +import cv2 +import mss +import PIL.Image +import pyaudio +from dotenv import load_dotenv +from google import genai +from google.genai import types +from mcp_handler import MCPClient + +load_dotenv() + +if sys.version_info < (3, 11, 0): + import exceptiongroup + import taskgroup + + asyncio.TaskGroup = taskgroup.TaskGroup + asyncio.ExceptionGroup = exceptiongroup.ExceptionGroup + +# Audio configuration constants +AUDIO_FORMAT = pyaudio.paInt16 # 16-bit audio format +AUDIO_CHANNELS = 1 # Mono audio +SEND_SAMPLE_RATE = 16000 # Sample rate for sending audio to Gemini +RECEIVE_SAMPLE_RATE = 24000 # Sample rate for receiving audio from Gemini +CHUNK_SIZE = 1024 # Audio buffer size + +# Gemini Live model and default settings +MODEL = "models/gemini-2.5-flash-live-preview" +DEFAULT_VIDEO_MODE = "none" # Options: "camera", "screen", "none" +RESPONSE_MODALITY = "AUDIO" # Options: "TEXT", "AUDIO" + +# System instructions to guide Gemini's behavior and tool usage. +# Play around with these to get different results! +system_instructions = """Keep your responses concise and to the point. +When asked to list something, give only a brief list without extra commentary. +When asked to do something just do it and confirm that it was done. No explanation. +""" + +client = genai.Client( + http_options={"api_version": "v1beta"}, + api_key=os.environ.get("GOOGLE_API_KEY"), +) + + +pya = pyaudio.PyAudio() + + +class AudioLoop: + """ + Main class for handling Gemini Live audio/video interaction with MCP server integration. + + Manages real-time audio streaming, video capture, and tool calls through MCP + """ + + def __init__(self, video_mode=DEFAULT_VIDEO_MODE): + """ + Initialize the AudioLoop with specified video mode. + + Args: + video_mode (str): Video input mode - "camera", "screen", or "none" + """ + self.video_mode = video_mode + + # Communication queues + self.audio_in_queue = None # Queue for incoming audio from Gemini + self.out_queue = None # Queue for outgoing data to Gemini + + # Session and task management + self.session = None # Gemini Live session + self.send_text_task = None + self.receive_audio_task = None + self.play_audio_task = None + + # MCP client for robot control + self.mcp_client = MCPClient() + + async def send_text(self): + """ + Handle text input from user and send to Gemini Live session. + + Continuously prompts for user input and sends it to the session. + Breaks the loop when user types 'q' to quit. + """ + while True: + text = await asyncio.to_thread( + input, + "šŸŽ¤ message > ", + ) + if text.lower() == "q": + break + + await self.session.send(input=text or ".", end_of_turn=True) + + def display_server_content(self, server_content): + """ + Process and display server content including code execution results. + + Args: + server_content: Server response content from Gemini + """ + model_turn = server_content.model_turn + + # Display executable code and execution results + if model_turn: + for part in model_turn.parts: + # Show executable code blocks + executable_code = part.executable_code + if executable_code is not None: + print(f"``` executable code:\n{executable_code.code}\n```") + + # Show code execution output + code_execution_result = part.code_execution_result + if code_execution_result is not None: + print(f"``` code execution result:\n{code_execution_result.output}\n```") + + # Display grounding metadata if available + grounding_metadata = getattr(server_content, "grounding_metadata", None) + if grounding_metadata is not None: + print(grounding_metadata.search_entry_point.rendered_content) + + return + + async def handle_tool_call(self, tool_call): + """ + Process tool calls from Gemini and execute them via MCP client. + + Args: + tool_call: Tool call request from Gemini containing function calls + """ + for function_call in tool_call.function_calls: + # Execute the tool call through MCP server + result = await self.mcp_client.session.call_tool( + name=function_call.name, + arguments=function_call.args, + ) + # print(result) # Uncomment to debug raw tool call results + + # Format response for Gemini + tool_response = types.LiveClientToolResponse( + function_responses=[ + types.FunctionResponse( + name=function_call.name, + id=function_call.id, + response={"result": result}, + ) + ] + ) + + # print('\n>>> ', tool_response) # Uncomment to debug formatted responses + await self.session.send(input=tool_response) + + def _get_frame(self, cap): + """ + Capture and process a single frame from camera. + + Args: + cap: OpenCV VideoCapture object + + Returns: + dict: Frame data with mime_type and base64-encoded image data, or None if failed + """ + # Capture frame from camera + ret, frame = cap.read() + if not ret: + return None + + # Convert BGR (OpenCV) to RGB (PIL) to prevent blue tint + frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) + + # Create PIL image and resize for efficiency + img = PIL.Image.fromarray(frame_rgb) + img.thumbnail([1024, 1024]) + + # Convert to JPEG format + image_io = io.BytesIO() + img.save(image_io, format="jpeg") + image_io.seek(0) + + # Return as base64-encoded data + mime_type = "image/jpeg" + image_bytes = image_io.read() + return {"mime_type": mime_type, "data": base64.b64encode(image_bytes).decode()} + + async def get_frames(self): + """ + Continuously capture frames from camera and add them to output queue. + + Uses asyncio.to_thread to prevent blocking the audio pipeline. + Captures frames at 1 second intervals. + """ + # Initialize camera (0 = default camera) + # Run in thread to prevent blocking audio pipeline + cap = await asyncio.to_thread(cv2.VideoCapture, 0) + + while True: + # Capture frame in separate thread + frame = await asyncio.to_thread(self._get_frame, cap) + if frame is None: + break + + # Send frame at 1 second intervals + await asyncio.sleep(1.0) + await self.out_queue.put(frame) + + # Clean up camera resource + cap.release() + + def _get_screen(self): + """ + Capture and process a screenshot from the primary monitor. + + Returns: + dict: Screen data with mime_type and base64-encoded image data + """ + # Initialize screen capture + screen_capture = mss.mss() + primary_monitor = screen_capture.monitors[0] + + # Capture screenshot + screenshot = screen_capture.grab(primary_monitor) + + # Convert to PIL Image + image_bytes = mss.tools.to_png(screenshot.rgb, screenshot.size) + img = PIL.Image.open(io.BytesIO(image_bytes)) + + # Convert to JPEG format + image_io = io.BytesIO() + img.save(image_io, format="jpeg") + image_io.seek(0) + + # Return as base64-encoded data + mime_type = "image/jpeg" + image_bytes = image_io.read() + return {"mime_type": mime_type, "data": base64.b64encode(image_bytes).decode()} + + async def get_screen(self): + """ + Continuously capture screenshots and add them to output queue. + + Captures screenshots at 1 second intervals. + """ + while True: + # Capture screenshot in separate thread + frame = await asyncio.to_thread(self._get_screen) + if frame is None: + break + + # Send screenshot at 1 second intervals + await asyncio.sleep(1.0) + await self.out_queue.put(frame) + + async def send_realtime(self): + """ + Send real-time data (audio/video) from output queue to Gemini session. + + Continuously processes messages from the output queue and sends them to Gemini. + """ + while True: + message = await self.out_queue.get() + await self.session.send(input=message) + + async def listen_audio(self): + """ + Continuously capture audio from microphone and add to output queue. + + Sets up microphone input stream and reads audio data in chunks. + """ + # Get default microphone info + mic_info = pya.get_default_input_device_info() + print("Microphone:", mic_info["name"]) + + # Initialize audio input stream + self.audio_stream = await asyncio.to_thread( + pya.open, + format=AUDIO_FORMAT, + channels=AUDIO_CHANNELS, + rate=SEND_SAMPLE_RATE, + input=True, + input_device_index=mic_info["index"], + frames_per_buffer=CHUNK_SIZE, + ) + + # Configure overflow handling for debug vs release + overflow_kwargs = {"exception_on_overflow": False} if __debug__ else {} + + # Continuously read audio data + while True: + audio_data = await asyncio.to_thread( + self.audio_stream.read, CHUNK_SIZE, **overflow_kwargs + ) + await self.out_queue.put({"data": audio_data, "mime_type": "audio/pcm"}) + + async def receive_audio(self): + """ + Background task to receive responses from Gemini session. + + Processes audio data, text responses, and tool calls from Gemini. + Handles interruptions by clearing the audio queue. + """ + while True: + turn = self.session.receive() + turn_text = "" + first_text = True + + async for response in turn: + # Handle audio data from Gemini + if audio_data := response.data: + self.audio_in_queue.put_nowait(audio_data) + continue + + # Handle text responses from Gemini + if text_content := response.text: + if first_text: + print(f"\nšŸ¤– > {text_content}", end="", flush=True) + first_text = False + else: + print(text_content, end="", flush=True) + turn_text += text_content + + # Handle server content (currently disabled) + + server_content = response.server_content + if server_content is not None: + self.display_server_content(server_content) + continue + + # Handle tool calls from Gemini + tool_call = response.tool_call + if tool_call is not None: + await self.handle_tool_call(tool_call) + + # Complete the response display + if turn_text: + print() # Add newline after response + print("šŸŽ¤ message > ", end="", flush=True) # Show next prompt + + # Handle interruptions by clearing queued audio + # This prevents audio backlog when user interrupts the model + while not self.audio_in_queue.empty(): + self.audio_in_queue.get_nowait() + + async def play_audio(self): + """ + Play audio responses from Gemini through speakers. + + Continuously reads audio data from input queue and plays it. + """ + # Initialize audio output stream + audio_stream = await asyncio.to_thread( + pya.open, + format=AUDIO_FORMAT, + channels=AUDIO_CHANNELS, + rate=RECEIVE_SAMPLE_RATE, + output=True, + ) + + # Continuously play audio from queue + while True: + audio_bytes = await self.audio_in_queue.get() + await asyncio.to_thread(audio_stream.write, audio_bytes) + + async def run(self): + """ + Main execution method that sets up and runs the Gemini Live session. + + Connects to MCP server, configures tools, and starts all async tasks + for audio/video processing and communication. + """ + # Connect to MCP server and get available tools + await self.mcp_client.connect_to_server() + available_tools = await self.mcp_client.session.list_tools() + + # Convert MCP tools to Gemini-compatible format + functional_tools = [] + for tool in available_tools.tools: + tool_description = {"name": tool.name, "description": tool.description} + + # Process tool parameters if they exist + if tool.inputSchema["properties"]: + tool_description["parameters"] = { + "type": tool.inputSchema["type"], + "properties": {}, + } + + # Convert each parameter to Gemini format + for param_name in tool.inputSchema["properties"]: + param_schema = tool.inputSchema["properties"][param_name] + + # Handle direct type or anyOf union types + if "type" in param_schema: + param_type = param_schema["type"] + elif "anyOf" in param_schema: + # For anyOf, use the first non-null type + param_type = "string" # default fallback + for type_option in param_schema["anyOf"]: + if type_option.get("type") != "null": + param_type = type_option["type"] + break + else: + param_type = "string" # Fallback default + + # Build parameter definition + param_definition = { + "type": param_type, + "description": "", + } + + # Handle array types that need items specification + if param_type == "array" and "items" in param_schema: + items_schema = param_schema["items"] + if "type" in items_schema: + param_definition["items"] = {"type": items_schema["type"]} + else: + # Default to object for complex array items + param_definition["items"] = {"type": "object"} + + tool_description["parameters"]["properties"][param_name] = param_definition + + # Add required parameters list if specified + if "required" in tool.inputSchema: + tool_description["parameters"]["required"] = tool.inputSchema["required"] + + functional_tools.append(tool_description) + + # Configure Gemini Live tools (MCP tools + built-in capabilities) + tools = [ + {"function_declarations": functional_tools}, + {"code_execution": {}}, # Enable code execution + {"google_search": {}}, # Enable web search + ] + + # Configure Gemini Live session + live_config = types.LiveConnectConfig( + response_modalities=[ + RESPONSE_MODALITY + ], # "Enable text responses (audio handled separately)" + speech_config=types.SpeechConfig( + voice_config=types.VoiceConfig( + prebuilt_voice_config=types.PrebuiltVoiceConfig(voice_name="Charon") + ) + ), + system_instruction=types.Content(parts=[types.Part(text=system_instructions)]), + tools=tools, + ) + + try: + # Start Gemini Live session and create task group + async with ( + client.aio.live.connect(model=MODEL, config=live_config) as session, + asyncio.TaskGroup() as task_group, + ): + self.session = session + + # Initialize communication queues + self.audio_in_queue = asyncio.Queue() # Audio from Gemini + self.out_queue = asyncio.Queue(maxsize=5) # Data to Gemini (limited size) + + # Start all async tasks + send_text_task = task_group.create_task(self.send_text()) + task_group.create_task(self.send_realtime()) + task_group.create_task(self.listen_audio()) + + # Start video capture based on selected mode + if self.video_mode == "camera": + task_group.create_task(self.get_frames()) + elif self.video_mode == "screen": + task_group.create_task(self.get_screen()) + + # Start audio processing tasks + task_group.create_task(self.receive_audio()) + task_group.create_task(self.play_audio()) + + # Wait for user to quit (send_text_task completes when user types 'q') + await send_text_task + raise asyncio.CancelledError("User requested exit") + + except asyncio.CancelledError: + # Normal exit when user types 'q' + pass + except asyncio.ExceptionGroup as exception_group: + # Handle any errors that occurred in the task group + self.audio_stream.close() + traceback.print_exception(exception_group) + + +if __name__ == "__main__": + # Parse command line arguments for video mode selection + parser = argparse.ArgumentParser( + description="Gemini Live integration with MCP server for robot control" + ) + parser.add_argument( + "--mode", + type=str, + default=DEFAULT_VIDEO_MODE, + help="Video input source for visual context", + choices=["camera", "screen", "none"], + ) + args = parser.parse_args() + + # Initialize and run the audio loop + audio_loop = AudioLoop(video_mode=args.mode) + asyncio.run(audio_loop.run()) diff --git a/examples/2_gemini/gemini_live/mcp_config.json b/examples/2_gemini/gemini_live/mcp_config.json new file mode 100644 index 0000000..907ee13 --- /dev/null +++ b/examples/2_gemini/gemini_live/mcp_config.json @@ -0,0 +1,13 @@ +{ + "mcpServers": { + "ros-mcp-server": { + "command": "uv", + "args": [ + "--directory", + "//ros-mcp-server", + "run", + "server.py" + ] + } + } +} \ No newline at end of file diff --git a/examples/2_gemini/gemini_live/mcp_handler.py b/examples/2_gemini/gemini_live/mcp_handler.py new file mode 100644 index 0000000..f7a1bde --- /dev/null +++ b/examples/2_gemini/gemini_live/mcp_handler.py @@ -0,0 +1,106 @@ +""" +MCP Client handler for connecting to ROS MCP server. +""" + +import asyncio +import json +from contextlib import AsyncExitStack +from typing import Optional + +from mcp import ClientSession, StdioServerParameters +from mcp.client.stdio import stdio_client + +# Configuration file path for MCP server definitions +MCP_CONFIG_FILE = "mcp_config.json" +mcp_servers = "ros-mcp-server" + + +class MCPClient: + """ + Client for connecting to and managing MCP server connections. + + This class handles the lifecycle of MCP server connections, providing + methods to connect, communicate with, and properly clean up server sessions. + """ + + def __init__(self) -> None: + """ + Initialize the MCP client. + """ + self.session: Optional[ClientSession] = None + self.exit_stack = AsyncExitStack() + + # Transport layer components (set during connection) + self.stdio = None + self.write = None + + async def connect_to_server(self, server_name: str = mcp_servers) -> None: + """ + Connect to the specified MCP server and initialize the client session. + + Args: + server_name: Name of the server to connect to from mcp_config.json + + Raises: + ValueError: If the specified server is not found in configuration + FileNotFoundError: If mcp_config.json is not found + json.JSONDecodeError: If configuration file is malformed + """ + # Load MCP server configuration + try: + with open(MCP_CONFIG_FILE) as config_file: + server_configurations = json.load(config_file)["mcpServers"] + except FileNotFoundError: + raise FileNotFoundError(f"Configuration file '{MCP_CONFIG_FILE}' not found") + except KeyError: + raise ValueError( + f"Invalid configuration format in '{MCP_CONFIG_FILE}' - missing 'mcpServers' key" + ) + + # Validate server exists in configuration + if server_name not in server_configurations: + available_servers = list(server_configurations.keys()) + raise ValueError( + f"Server '{server_name}' not found in {MCP_CONFIG_FILE}. " + f"Available servers: {available_servers}" + ) + + # Extract server configuration + server_config = server_configurations[server_name] + server_parameters = StdioServerParameters( + command=server_config["command"], + args=server_config["args"], + env=None, # Use system environment + ) + + # Initialize stdio transport connection + stdio_transport = await self.exit_stack.enter_async_context(stdio_client(server_parameters)) + self.stdio, self.write = stdio_transport + + # Create and initialize client session + self.session = await self.exit_stack.enter_async_context( + ClientSession(self.stdio, self.write) + ) + await self.session.initialize() + + # Discover and display available tools + tools_response = await self.session.list_tools() + available_tools = tools_response.tools + tool_names = [tool.name for tool in available_tools] + + print(f"\nConnected to '{server_name}' with tools: {tool_names}") + + async def cleanup(self) -> None: + await self.exit_stack.aclose() + + +async def main() -> None: + client = MCPClient() + try: + await client.connect_to_server() + finally: + await client.cleanup() + + +if __name__ == "__main__": + asyncio.run(main()) diff --git a/examples/2_gemini/gemini_live/pyproject.toml b/examples/2_gemini/gemini_live/pyproject.toml new file mode 100644 index 0000000..19b8580 --- /dev/null +++ b/examples/2_gemini/gemini_live/pyproject.toml @@ -0,0 +1,17 @@ +[project] +name = "gemini-live" +version = "1.0.0" +description = "Enable use of ros-mcp-server with Gemini Live API" +requires-python = ">=3.10" +dependencies = [ + "exceptiongroup>=1.2.2", + "google-genai>=1.8.0", + "mcp[cli]>=1.6.0", + "mss>=10.0.0", + "opencv-python>=4.11.0.86", + "pillow>=11.1.0", + "pyaudio>=0.2.14", + "python-dotenv>=1.1.0", + "taskgroup>=0.2.2", +] + diff --git a/examples/2_gemini/gemini_live/uv.lock b/examples/2_gemini/gemini_live/uv.lock new file mode 100644 index 0000000..fed2968 --- /dev/null +++ b/examples/2_gemini/gemini_live/uv.lock @@ -0,0 +1,849 @@ +version 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2412663164c72ea24a88718088db8c67c4e7ba7b Mon Sep 17 00:00:00 2001 From: tracelarue Date: Wed, 1 Oct 2025 22:29:00 -0500 Subject: [PATCH 02/13] renamed to gemini_client.py, readme updates --- .gitignore | 1 + examples/2_gemini/gemini_live/README.md | 12 +++++++----- .../gemini_live/{gemini_live.py => gemini_client.py} | 0 examples/2_gemini/gemini_live/mcp_config.json | 2 +- 4 files changed, 9 insertions(+), 6 deletions(-) rename examples/2_gemini/gemini_live/{gemini_live.py => gemini_client.py} (100%) diff --git a/.gitignore b/.gitignore index 92025d1..32dc1b9 100644 --- a/.gitignore +++ b/.gitignore @@ -179,3 +179,4 @@ pyrightconfig.json # camera /camera/* +examples/2_gemini/gemini_live/mcp_config.json diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md index 6d55835..a5fbdeb 100644 --- a/examples/2_gemini/gemini_live/README.md +++ b/examples/2_gemini/gemini_live/README.md @@ -12,12 +12,13 @@ Control ROS robots with voice commands using Google's Gemini Live API. 2. **Get Google API Key**: Visit [Google AI Studio](https://aistudio.google.com) and create an API key -3. **Create `.env` file**: +3. **Create a `.env` file in the same folder as gemini_client.py**: ```env GOOGLE_API_KEY="your_google_api_key_here" ``` -4. **Create `mcp_config.json`**:Replace `/absolute/path/to/ros-mcp-server` with your actual path. +4. **Create `mcp_config.json` in the same folder as gemini_client.py**: +Replace `/absolute/path/to/ros-mcp-server` with your actual path. ```json { "mcpServers": { @@ -25,7 +26,7 @@ Control ROS robots with voice commands using Google's Gemini Live API. "command": "uv", "args": [ "--directory", - "/home/trace/ros-mcp-server", + "/absolute/path/to/ros-mcp-server", "run", "server.py" ] @@ -39,7 +40,7 @@ Control ROS robots with voice commands using Google's Gemini Live API. **Start Gemini Live:** ```bash cd ros-mcp-server/examples/2_gemini/gemini_live -uv run gemini_live.py --mode=none +uv run gemini_client.py --mode=none ``` **Video modes:** @@ -62,7 +63,8 @@ Type `q` + Enter to quit. ```bash # Terminal 1: Launch rosbridge ros2 launch rosbridge_server rosbridge_websocket_launch.xml - +``` +```bash # Terminal 2: Start turtlesim ros2 run turtlesim turtlesim_node ``` diff --git a/examples/2_gemini/gemini_live/gemini_live.py b/examples/2_gemini/gemini_live/gemini_client.py similarity index 100% rename from examples/2_gemini/gemini_live/gemini_live.py rename to examples/2_gemini/gemini_live/gemini_client.py diff --git a/examples/2_gemini/gemini_live/mcp_config.json b/examples/2_gemini/gemini_live/mcp_config.json index 907ee13..29a284b 100644 --- a/examples/2_gemini/gemini_live/mcp_config.json +++ b/examples/2_gemini/gemini_live/mcp_config.json @@ -4,7 +4,7 @@ "command": "uv", "args": [ "--directory", - 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Dependencies +# +# System Requirements (install first): +# sudo apt-get install portaudio19-dev +# +# Python packages (install with): +# pip install -r requirements.txt + +exceptiongroup>=1.2.2 +google-genai>=1.8.0 +mcp[cli]>=1.6.0 +mss>=10.0.0 +opencv-python>=4.11.0.86 +pillow>=11.1.0 +pyaudio>=0.2.14 +python-dotenv>=1.1.0 +taskgroup>=0.2.2 From f3c1d6e8e7a38229160f8b621aefce6bac35e266 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 12:07:02 -0500 Subject: [PATCH 06/13] removed mcp_handler.py --- examples/2_gemini/gemini_live/mcp_handler.py | 106 ------------------- 1 file changed, 106 deletions(-) delete mode 100644 examples/2_gemini/gemini_live/mcp_handler.py diff --git a/examples/2_gemini/gemini_live/mcp_handler.py b/examples/2_gemini/gemini_live/mcp_handler.py deleted file mode 100644 index f7a1bde..0000000 --- a/examples/2_gemini/gemini_live/mcp_handler.py +++ /dev/null @@ -1,106 +0,0 @@ -""" -MCP Client handler for connecting to ROS MCP server. -""" - -import asyncio -import json -from contextlib import AsyncExitStack -from typing import Optional - -from mcp import ClientSession, StdioServerParameters -from mcp.client.stdio import stdio_client - -# Configuration file path for MCP server definitions -MCP_CONFIG_FILE = "mcp_config.json" -mcp_servers = "ros-mcp-server" - - -class MCPClient: - """ - Client for connecting to and managing MCP server connections. - - This class handles the lifecycle of MCP server connections, providing - methods to connect, communicate with, and properly clean up server sessions. - """ - - def __init__(self) -> None: - """ - Initialize the MCP client. - """ - self.session: Optional[ClientSession] = None - self.exit_stack = AsyncExitStack() - - # Transport layer components (set during connection) - self.stdio = None - self.write = None - - async def connect_to_server(self, server_name: str = mcp_servers) -> None: - """ - Connect to the specified MCP server and initialize the client session. - - Args: - server_name: Name of the server to connect to from mcp_config.json - - Raises: - ValueError: If the specified server is not found in configuration - FileNotFoundError: If mcp_config.json is not found - json.JSONDecodeError: If configuration file is malformed - """ - # Load MCP server configuration - try: - with open(MCP_CONFIG_FILE) as config_file: - server_configurations = json.load(config_file)["mcpServers"] - except FileNotFoundError: - raise FileNotFoundError(f"Configuration file '{MCP_CONFIG_FILE}' not found") - except KeyError: - raise ValueError( - f"Invalid configuration format in '{MCP_CONFIG_FILE}' - missing 'mcpServers' key" - ) - - # Validate server exists in configuration - if server_name not in server_configurations: - available_servers = list(server_configurations.keys()) - raise ValueError( - f"Server '{server_name}' not found in {MCP_CONFIG_FILE}. " - f"Available servers: {available_servers}" - ) - - # Extract server configuration - server_config = server_configurations[server_name] - server_parameters = StdioServerParameters( - command=server_config["command"], - args=server_config["args"], - env=None, # Use system environment - ) - - # Initialize stdio transport connection - stdio_transport = await self.exit_stack.enter_async_context(stdio_client(server_parameters)) - self.stdio, self.write = stdio_transport - - # Create and initialize client session - self.session = await self.exit_stack.enter_async_context( - ClientSession(self.stdio, self.write) - ) - await self.session.initialize() - - # Discover and display available tools - tools_response = await self.session.list_tools() - available_tools = tools_response.tools - tool_names = [tool.name for tool in available_tools] - - print(f"\nConnected to '{server_name}' with tools: {tool_names}") - - async def cleanup(self) -> None: - await self.exit_stack.aclose() - - -async def main() -> None: - client = MCPClient() - try: - await client.connect_to_server() - finally: - await client.cleanup() - - -if __name__ == "__main__": - asyncio.run(main()) From 1f8c825333c9d86a4b9bc9f8706fc3daaf76f851 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 12:08:05 -0500 Subject: [PATCH 07/13] Updated gemini_client.py --- .../2_gemini/gemini_live/gemini_client.py | 542 +++++++++++------- 1 file changed, 348 insertions(+), 194 deletions(-) diff --git a/examples/2_gemini/gemini_live/gemini_client.py b/examples/2_gemini/gemini_live/gemini_client.py index bae468e..4b47a24 100644 --- a/examples/2_gemini/gemini_live/gemini_client.py +++ b/examples/2_gemini/gemini_live/gemini_client.py @@ -1,4 +1,3 @@ -import argparse import asyncio import base64 import io @@ -7,41 +6,55 @@ import traceback import cv2 -import mss -import PIL.Image import pyaudio +import PIL.Image +import mss + +import argparse from dotenv import load_dotenv + from google import genai from google.genai import types -from mcp_handler import MCPClient +from mcp import ClientSession, StdioServerParameters +from mcp.client.stdio import stdio_client load_dotenv() if sys.version_info < (3, 11, 0): - import exceptiongroup import taskgroup + import exceptiongroup asyncio.TaskGroup = taskgroup.TaskGroup asyncio.ExceptionGroup = exceptiongroup.ExceptionGroup # Audio configuration constants -AUDIO_FORMAT = pyaudio.paInt16 # 16-bit audio format -AUDIO_CHANNELS = 1 # Mono audio -SEND_SAMPLE_RATE = 16000 # Sample rate for sending audio to Gemini -RECEIVE_SAMPLE_RATE = 24000 # Sample rate for receiving audio from Gemini -CHUNK_SIZE = 1024 # Audio buffer size +AUDIO_FORMAT = pyaudio.paInt16 +AUDIO_CHANNELS = 1 +SEND_SAMPLE_RATE = 16000 +RECEIVE_SAMPLE_RATE = 24000 +CHUNK_SIZE = 1024 # Gemini Live model and default settings MODEL = "models/gemini-2.5-flash-live-preview" DEFAULT_VIDEO_MODE = "none" # Options: "camera", "screen", "none" -RESPONSE_MODALITY = "AUDIO" # Options: "TEXT", "AUDIO" +DEFAULT_RESPONSE_MODALITY = "AUDIO" # Options: "TEXT", "AUDIO" # System instructions to guide Gemini's behavior and tool usage. -# Play around with these to get different results! -system_instructions = """Keep your responses concise and to the point. -When asked to list something, give only a brief list without extra commentary. -When asked to do something just do it and confirm that it was done. No explanation. -""" +system_instructions = """ + You have access to the tools provided by ros_mcp_server. + To connect to the robot, use ip 192.168.52.129, port 9090. When successfuly connected, reply just "Succesfully connected". + """ + +# Create server parameters for stdio connection +server_params = StdioServerParameters( + command="uv", # Executable + args=[ + "--directory", + "/home/trace/ros-mcp-server", + "run", + "server.py"], + env=None, +) client = genai.Client( http_options={"api_version": "v1beta"}, @@ -59,14 +72,13 @@ class AudioLoop: Manages real-time audio streaming, video capture, and tool calls through MCP """ - def __init__(self, video_mode=DEFAULT_VIDEO_MODE): + def __init__(self, video_mode=DEFAULT_VIDEO_MODE, response_modality=DEFAULT_RESPONSE_MODALITY, active_muting=True): """ - Initialize the AudioLoop with specified video mode. - - Args: - video_mode (str): Video input mode - "camera", "screen", or "none" + Initialize the AudioLoop with specified video mode and response modality. """ self.video_mode = video_mode + self.response_modality = response_modality + self.active_muting = active_muting # Communication queues self.audio_in_queue = None # Queue for incoming audio from Gemini @@ -78,8 +90,9 @@ def __init__(self, video_mode=DEFAULT_VIDEO_MODE): self.receive_audio_task = None self.play_audio_task = None - # MCP client for robot control - self.mcp_client = MCPClient() + # Control flags for audio management + self.mic_active = True + self.mic_lock = asyncio.Lock() async def send_text(self): """ @@ -96,65 +109,66 @@ async def send_text(self): if text.lower() == "q": break - await self.session.send(input=text or ".", end_of_turn=True) - - def display_server_content(self, server_content): - """ - Process and display server content including code execution results. - - Args: - server_content: Server response content from Gemini - """ - model_turn = server_content.model_turn - - # Display executable code and execution results - if model_turn: - for part in model_turn.parts: - # Show executable code blocks - executable_code = part.executable_code - if executable_code is not None: - print(f"``` executable code:\n{executable_code.code}\n```") - - # Show code execution output - code_execution_result = part.code_execution_result - if code_execution_result is not None: - print(f"``` code execution result:\n{code_execution_result.output}\n```") - - # Display grounding metadata if available - grounding_metadata = getattr(server_content, "grounding_metadata", None) - if grounding_metadata is not None: - print(grounding_metadata.search_entry_point.rendered_content) - - return + await self.session.send_client_content( + turns={"role": "user", "parts": [{"text": text or "."}]}, + turn_complete=True + ) async def handle_tool_call(self, tool_call): """ - Process tool calls from Gemini and execute them via MCP client. + Process tool calls from Gemini and execute them via MCP session. Args: tool_call: Tool call request from Gemini containing function calls """ for function_call in tool_call.function_calls: # Execute the tool call through MCP server - result = await self.mcp_client.session.call_tool( + result = await self.mcp_session.call_tool( name=function_call.name, arguments=function_call.args, ) # print(result) # Uncomment to debug raw tool call results + # Convert MCP result to JSON-serializable format + # The result is a CallToolResult object with 'content' list + result_content = [] + if hasattr(result, 'content'): + for content_item in result.content: + # Handle TextContent objects with 'text' attribute + if hasattr(content_item, 'text'): + result_content.append(content_item.text) + # Handle objects that can be dumped to dict + elif hasattr(content_item, 'model_dump'): + dumped = content_item.model_dump() + # If it's a dict, convert to string representation + if isinstance(dumped, dict): + result_content.append(str(dumped)) + else: + result_content.append(str(dumped)) + # Handle plain strings + elif isinstance(content_item, str): + result_content.append(content_item) + # Handle dicts + elif isinstance(content_item, dict): + result_content.append(str(content_item)) + # Fallback to string conversion + else: + result_content.append(str(content_item)) + + # Join content items into a single result string + result_text = "\n".join(result_content) if result_content else str(result) + # Format response for Gemini - tool_response = types.LiveClientToolResponse( - function_responses=[ - types.FunctionResponse( - name=function_call.name, - id=function_call.id, - response={"result": result}, - ) - ] - ) + function_responses = [ + types.FunctionResponse( + name=function_call.name, + id=function_call.id, + response={"result": result_text}, + ) + ] - # print('\n>>> ', tool_response) # Uncomment to debug formatted responses - await self.session.send(input=tool_response) + # print('\n>>> ', function_responses) # Uncomment to debug formatted responses + await self.session.send_tool_response(function_responses=function_responses) def _get_frame(self, cap): """ @@ -264,7 +278,7 @@ async def send_realtime(self): """ while True: message = await self.out_queue.get() - await self.session.send(input=message) + await self.session.send_realtime_input(media=message) async def listen_audio(self): """ @@ -289,13 +303,36 @@ async def listen_audio(self): # Configure overflow handling for debug vs release overflow_kwargs = {"exception_on_overflow": False} if __debug__ else {} + + stream_active = True # Continuously read audio data while True: - audio_data = await asyncio.to_thread( - self.audio_stream.read, CHUNK_SIZE, **overflow_kwargs - ) - await self.out_queue.put({"data": audio_data, "mime_type": "audio/pcm"}) + # Check if mic should be active + async with self.mic_lock: + mic_currently_active = self.mic_active + + if mic_currently_active: + # If stream was stopped, restart it + if not stream_active: + await asyncio.to_thread(self.audio_stream.start_stream) + stream_active = True + + # Small sleep to prevent CPU overuse + await asyncio.sleep(0.01) + # Read audio data + audio_data = await asyncio.to_thread( + self.audio_stream.read, CHUNK_SIZE, **overflow_kwargs + ) + await self.out_queue.put({"data": audio_data, "mime_type": "audio/pcm"}) + else: + # Stop the stream completely to prevent any audio capture + if stream_active: + await asyncio.to_thread(self.audio_stream.stop_stream) + stream_active = False + + # Just sleep while muted - no audio is being captured + await asyncio.sleep(0.1) async def receive_audio(self): """ @@ -310,12 +347,26 @@ async def receive_audio(self): first_text = True async for response in turn: - # Handle audio data from Gemini - if audio_data := response.data: - self.audio_in_queue.put_nowait(audio_data) + # Handle server content with model turn + server_content = response.server_content + if server_content and server_content.model_turn: + for part in server_content.model_turn.parts: + # Handle audio data from inline_data parts + if part.inline_data: + self.audio_in_queue.put_nowait(part.inline_data.data) + + # Handle text responses + if part.text: + text_content = part.text + if first_text: + print(f"\nšŸ¤– > {text_content}", end="", flush=True) + first_text = False + else: + print(text_content, end="", flush=True) + turn_text += text_content continue - # Handle text responses from Gemini + # Fallback: Handle text responses from Gemini (for backward compatibility) if text_content := response.text: if first_text: print(f"\nšŸ¤– > {text_content}", end="", flush=True) @@ -325,11 +376,12 @@ async def receive_audio(self): turn_text += text_content # Handle server content (currently disabled) - + """ server_content = response.server_content if server_content is not None: - self.display_server_content(server_content) + self.handle_server_content(server_content) continue + """ # Handle tool calls from Gemini tool_call = response.tool_call @@ -351,6 +403,7 @@ async def play_audio(self): Play audio responses from Gemini through speakers. Continuously reads audio data from input queue and plays it. + Mutes microphone during playback to prevent feedback. """ # Initialize audio output stream audio_stream = await asyncio.to_thread( @@ -361,10 +414,72 @@ async def play_audio(self): output=True, ) + audio_playing = False + last_audio_time = asyncio.get_event_loop().time() + # Continuously play audio from queue while True: - audio_bytes = await self.audio_in_queue.get() - await asyncio.to_thread(audio_stream.write, audio_bytes) + try: + # Add a timeout to detect stalled audio + try: + audio_bytes = await asyncio.wait_for(self.audio_in_queue.get(), timeout=5.0) + last_audio_time = asyncio.get_event_loop().time() + except asyncio.TimeoutError: + # No audio for 5 seconds, check if we need to ensure mic is unmuted + current_time = asyncio.get_event_loop().time() + if audio_playing and (current_time - last_audio_time) > 3.0: + print("āš ļø Audio timeout detected - resetting microphone state") + if self.active_muting: + async with self.mic_lock: + self.mic_active = True + audio_playing = False + print("šŸŽ¤ Microphone re-enabled after audio timeout") + else: + audio_playing = False + continue + + # If this is the first audio chunk in a sequence, mute the microphone (if enabled) + if not audio_playing: + if self.active_muting: + async with self.mic_lock: + self.mic_active = False + audio_playing = True + print("šŸ”‡ Microphone muted while audio is playing") + + # Add a delay to ensure the mic is fully muted before audio starts + await asyncio.sleep(0.25) + else: + audio_playing = True + + # Play the audio + await asyncio.to_thread(audio_stream.write, audio_bytes) + + # Check if the queue is empty (reached end of audio) + if self.audio_in_queue.qsize() == 0: + # Wait briefly to make sure no more chunks are coming + await asyncio.sleep(2) + if self.audio_in_queue.qsize() == 0: + # No more audio chunks, re-enable microphone (if it was muted) + if self.active_muting: + async with self.mic_lock: + if not self.mic_active: + self.mic_active = True + audio_playing = False + print("šŸŽ¤ Microphone unmuted after audio playback") + else: + audio_playing = False + + except Exception as e: + print(f"šŸ”“ Audio playback error: {str(e)}") + # Re-enable microphone in case of error (if muting is enabled) + if self.active_muting: + async with self.mic_lock: + self.mic_active = True + audio_playing = False + print("šŸŽ¤ Microphone unmuted after audio error") + else: + audio_playing = False + await asyncio.sleep(0.1) async def run(self): """ @@ -373,121 +488,143 @@ async def run(self): Connects to MCP server, configures tools, and starts all async tasks for audio/video processing and communication. """ - # Connect to MCP server and get available tools - await self.mcp_client.connect_to_server() - available_tools = await self.mcp_client.session.list_tools() - - # Convert MCP tools to Gemini-compatible format - functional_tools = [] - for tool in available_tools.tools: - tool_description = {"name": tool.name, "description": tool.description} - - # Process tool parameters if they exist - if tool.inputSchema["properties"]: - tool_description["parameters"] = { - "type": tool.inputSchema["type"], - "properties": {}, - } - - # Convert each parameter to Gemini format - for param_name in tool.inputSchema["properties"]: - param_schema = tool.inputSchema["properties"][param_name] - - # Handle direct type or anyOf union types - if "type" in param_schema: - param_type = param_schema["type"] - elif "anyOf" in param_schema: - # For anyOf, use the first non-null type - param_type = "string" # default fallback - for type_option in param_schema["anyOf"]: - if type_option.get("type") != "null": - param_type = type_option["type"] - break - else: - param_type = "string" # Fallback default - - # Build parameter definition - param_definition = { - "type": param_type, - "description": "", - } - - # Handle array types that need items specification - if param_type == "array" and "items" in param_schema: - items_schema = param_schema["items"] - if "type" in items_schema: - param_definition["items"] = {"type": items_schema["type"]} - else: - # Default to object for complex array items - param_definition["items"] = {"type": "object"} - - tool_description["parameters"]["properties"][param_name] = param_definition - - # Add required parameters list if specified - if "required" in tool.inputSchema: - tool_description["parameters"]["required"] = tool.inputSchema["required"] - - functional_tools.append(tool_description) - - # Configure Gemini Live tools (MCP tools + built-in capabilities) - tools = [ - {"function_declarations": functional_tools}, - {"code_execution": {}}, # Enable code execution - {"google_search": {}}, # Enable web search - ] - - # Configure Gemini Live session - live_config = types.LiveConnectConfig( - response_modalities=[ - RESPONSE_MODALITY - ], # "Enable text responses (audio handled separately)" - speech_config=types.SpeechConfig( - voice_config=types.VoiceConfig( - prebuilt_voice_config=types.PrebuiltVoiceConfig(voice_name="Charon") + + # Connect to MCP server using stdio + async with stdio_client(server_params) as (read, write): + async with ClientSession(read, write) as mcp_session: + + # Initialize the connection between client and server + await mcp_session.initialize() + + # Store MCP session for tool calling + self.mcp_session = mcp_session + + # Get available tools from MCP server + available_tools = await mcp_session.list_tools() + + # Convert MCP tools to Gemini-compatible format + # The Live API does NOT support automatic MCP tool calling + # So we must manually convert tools and handle execution + functional_tools = [] + for tool in available_tools.tools: + tool_description = {"name": tool.name, "description": tool.description} + + # Process tool parameters if they exist + if tool.inputSchema["properties"]: + tool_description["parameters"] = { + "type": tool.inputSchema["type"], + "properties": {}, + } + + # Convert each parameter to Gemini format + for param_name in tool.inputSchema["properties"]: + param_schema = tool.inputSchema["properties"][param_name] + + # Handle direct type or anyOf union types + if "type" in param_schema: + param_type = param_schema["type"] + elif "anyOf" in param_schema: + # For anyOf, use the first non-null type + param_type = "string" # default fallback + for type_option in param_schema["anyOf"]: + if type_option.get("type") != "null": + param_type = type_option["type"] + break + else: + param_type = "string" # Fallback default + + # Build parameter definition + param_definition = { + "type": param_type, + "description": "", + } + + # Handle array types that need items specification + if param_type == "array" and "items" in param_schema: + items_schema = param_schema["items"] + if "type" in items_schema: + param_definition["items"] = {"type": items_schema["type"]} + else: + # Default to object for complex array items + param_definition["items"] = {"type": "object"} + + tool_description["parameters"]["properties"][param_name] = ( + param_definition + ) + + # Add required parameters list if specified + if "required" in tool.inputSchema: + tool_description["parameters"]["required"] = tool.inputSchema[ + "required" + ] + + functional_tools.append(tool_description) + + # Configure Gemini Live tools (MCP tools + built-in capabilities) + tools = [ + { + "function_declarations": functional_tools, + "code_execution": {}, # Enable code execution + "google_search": {}, # Enable web search + }, + ] + + # Configure Gemini Live session + live_config = types.LiveConnectConfig( + response_modalities=[ + self.response_modality + ], # "Enable text or audio responses based on configuration" + speech_config=types.SpeechConfig( + voice_config=types.VoiceConfig( + prebuilt_voice_config=types.PrebuiltVoiceConfig(voice_name="Charon") + ) + ), + system_instruction=types.Content( + parts=[types.Part(text=system_instructions)] + ), + tools=tools, ) - ), - system_instruction=types.Content(parts=[types.Part(text=system_instructions)]), - tools=tools, - ) - try: - # Start Gemini Live session and create task group - async with ( - client.aio.live.connect(model=MODEL, config=live_config) as session, - asyncio.TaskGroup() as task_group, - ): - self.session = session - - # Initialize communication queues - self.audio_in_queue = asyncio.Queue() # Audio from Gemini - self.out_queue = asyncio.Queue(maxsize=5) # Data to Gemini (limited size) - - # Start all async tasks - send_text_task = task_group.create_task(self.send_text()) - task_group.create_task(self.send_realtime()) - task_group.create_task(self.listen_audio()) - - # Start video capture based on selected mode - if self.video_mode == "camera": - task_group.create_task(self.get_frames()) - elif self.video_mode == "screen": - task_group.create_task(self.get_screen()) - - # Start audio processing tasks - task_group.create_task(self.receive_audio()) - task_group.create_task(self.play_audio()) - - # Wait for user to quit (send_text_task completes when user types 'q') - await send_text_task - raise asyncio.CancelledError("User requested exit") - - except asyncio.CancelledError: - # Normal exit when user types 'q' - pass - except asyncio.ExceptionGroup as exception_group: - # Handle any errors that occurred in the task group - self.audio_stream.close() - traceback.print_exception(exception_group) + try: + # Start Gemini Live session and create task group + async with ( + client.aio.live.connect(model=MODEL, config=live_config) as session, + asyncio.TaskGroup() as task_group, + ): + self.session = session + + # Initialize communication queues + self.audio_in_queue = asyncio.Queue() # Audio from Gemini + self.out_queue = asyncio.Queue( + maxsize=5 + ) # Data to Gemini (limited size) + + # Start all async tasks + send_text_task = task_group.create_task(self.send_text()) + task_group.create_task(self.send_realtime()) + task_group.create_task(self.listen_audio()) + + # Start video capture based on selected mode + if self.video_mode == "camera": + task_group.create_task(self.get_frames()) + elif self.video_mode == "screen": + task_group.create_task(self.get_screen()) + + # Start audio processing tasks + task_group.create_task(self.receive_audio()) + task_group.create_task(self.play_audio()) + + # Wait for user to quit (send_text_task completes when user types 'q') + await send_text_task + raise asyncio.CancelledError("User requested exit") + + except asyncio.CancelledError: + # Normal exit when user types 'q' + pass + except asyncio.ExceptionGroup as exception_group: + # Handle any errors that occurred in the task group + self.audio_stream.close() + traceback.print_exception(exception_group) if __name__ == "__main__": @@ -496,14 +633,31 @@ async def run(self): description="Gemini Live integration with MCP server for robot control" ) parser.add_argument( - "--mode", + "--video", type=str, default=DEFAULT_VIDEO_MODE, help="Video input source for visual context", choices=["camera", "screen", "none"], ) + parser.add_argument( + "--responses", + type=str, + default=DEFAULT_RESPONSE_MODALITY, + help="Response format from Gemini", + choices=["TEXT", "AUDIO"], + ) + parser.add_argument( + "--active-muting", + type=lambda x: x.lower() == 'true', + default=True, + help="Mute microphone during audio playback (true/false, default: true)", + ) args = parser.parse_args() # Initialize and run the audio loop - audio_loop = AudioLoop(video_mode=args.mode) + audio_loop = AudioLoop( + video_mode=args.video, + response_modality=args.responses, + active_muting=args.active_muting + ) asyncio.run(audio_loop.run()) From 68afc996affcb3887264dc720ddabfa19f657051 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 12:08:19 -0500 Subject: [PATCH 08/13] Updated readme --- .gitignore | 4 ++ examples/2_gemini/gemini_live/README.md | 79 +++++++++++++++++++------ 2 files changed, 65 insertions(+), 18 deletions(-) diff --git a/.gitignore b/.gitignore index 32dc1b9..79723d1 100644 --- a/.gitignore +++ b/.gitignore @@ -179,4 +179,8 @@ pyrightconfig.json # camera /camera/* + +# Example-specific config files (user-specific) examples/2_gemini/gemini_live/mcp_config.json +examples/2_gemini/gemini_live/.env +examples/2_gemini/gemini_live/venv/ diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md index a5fbdeb..cb5792a 100644 --- a/examples/2_gemini/gemini_live/README.md +++ b/examples/2_gemini/gemini_live/README.md @@ -5,19 +5,40 @@ Control ROS robots with voice commands using Google's Gemini Live API. **Pre-requisites** See the [installation instructions](../../../docs/installation.md) for detailed setup steps. **Tested In:** Ubuntu 22.04, Python 3.10, ROS2 Humble +(Only works in Ubuntu) ## Quick Setup 1. **Install ROS MCP Server**: Follow the [installation guide](../../../docs/installation.md) -2. **Get Google API Key**: Visit [Google AI Studio](https://aistudio.google.com) and create an API key +2. **Install system dependencies** (required for audio): + ```bash + sudo apt-get update + sudo apt-get install portaudio19-dev + ``` + +3. **Install additional dependencies for Gemini Live**: + + ```bash + # Navigate to the ros-mcp-server root directory + cd ros-mcp-server + + # Activate the existing virtual environment + source .venv/bin/activate + + # Install the additional dependencies needed for Gemini Live + pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup + ``` + +4. **Get Google API Key**: Visit [Google AI Studio](https://aistudio.google.com) and create an API key -3. **Create a `.env` file in the same folder as gemini_client.py**: +5. **Create a `.env` file in the `gemini_live` folder**: ```env GOOGLE_API_KEY="your_google_api_key_here" ``` + Replace with your API key. -4. **Create `mcp_config.json` in the same folder as gemini_client.py**: +6. **Create `mcp_config.json` in the gemini_live folder**: Replace `/absolute/path/to/ros-mcp-server` with your actual path. ```json { @@ -39,27 +60,41 @@ Replace `/absolute/path/to/ros-mcp-server` with your actual path. **Start Gemini Live:** ```bash -cd ros-mcp-server/examples/2_gemini/gemini_live -uv run gemini_client.py --mode=none +# Navigate to ros-mcp-server root and activate the virtual environment +cd ros-mcp-server +source .venv/bin/activate + +# Navigate to the gemini_live example +cd examples/2_gemini/gemini_live + +# Run the client (with defaults: no video, audio responses, mic muting enabled) +python gemini_client.py ``` -**Video modes:** -- `--mode=none` - Audio only -- `--mode=camera` - Include camera -- `--mode=screen` - Include screen capture +**Command-line options:** -**Example Voice commands:** -- "Connect to the robot on ip _ and port _ " -- "List all available tools" -- "What ROS topics are available?" -- "Go to the kitchen" -- "Move forward at 1 m/s for 1 s" +**Video modes** (`--video`): +- `--video=none` - Audio only (default) +- `--video=camera` - Include camera feed +- `--video=screen` - Include screen capture + +**Response modes** (`--responses`): +- `--responses=TEXT` - Text responses only +- `--responses=AUDIO` - Audio responses (default) + +**Microphone muting** (`--active-muting`): +- `--active-muting=true` - Mute mic during audio playback (default, prevents echo/feedback) +- `--active-muting=false` - Keep mic active during audio playback +**Example usage:** +```bash +python gemini_client.py --video=camera --responses=TEXT --active-muting=false +``` Type `q` + Enter to quit. ## Test with Turtlesim -**Start rosbridge and turtlesim** (separate terminals): +**Start rosbridge and turtlesim**: ```bash # Terminal 1: Launch rosbridge ros2 launch rosbridge_server rosbridge_websocket_launch.xml @@ -96,7 +131,15 @@ See [Turtlesim Tutorial](../../1_turtlesim/README.md) for more examples. - Check key is active in Google AI Studio **Virtual environment issues?** -- Exit any active environments: `deactivate` -- UV creates its own environment automatically +- Make sure you activate the venv from the ros-mcp-server root: `cd ros-mcp-server && source .venv/bin/activate` +- This example uses the same virtual environment as the main ros-mcp-server project +- To deactivate when done: `deactivate` + +**Dependency issues?** +- If you get import errors, make sure you installed the additional dependencies: `pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup` +## +Contributed by Trace LaRue +traceglarue@gmail.com +[www.traceglarue.com](https://www.traceglarue.com) From d3eeb5c1f5f31da067dcd2b9379efa5d9097a5d3 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 12:14:16 -0500 Subject: [PATCH 09/13] ruff format fixes --- .../2_gemini/gemini_live/gemini_client.py | 75 ++++++++----------- 1 file changed, 33 insertions(+), 42 deletions(-) diff --git a/examples/2_gemini/gemini_live/gemini_client.py b/examples/2_gemini/gemini_live/gemini_client.py index 4b47a24..4f00b34 100644 --- a/examples/2_gemini/gemini_live/gemini_client.py +++ b/examples/2_gemini/gemini_live/gemini_client.py @@ -1,3 +1,4 @@ +import argparse import asyncio import base64 import io @@ -6,13 +7,10 @@ import traceback import cv2 -import pyaudio -import PIL.Image import mss - -import argparse +import PIL.Image +import pyaudio from dotenv import load_dotenv - from google import genai from google.genai import types from mcp import ClientSession, StdioServerParameters @@ -21,8 +19,8 @@ load_dotenv() if sys.version_info < (3, 11, 0): - import taskgroup import exceptiongroup + import taskgroup asyncio.TaskGroup = taskgroup.TaskGroup asyncio.ExceptionGroup = exceptiongroup.ExceptionGroup @@ -32,7 +30,7 @@ AUDIO_CHANNELS = 1 SEND_SAMPLE_RATE = 16000 RECEIVE_SAMPLE_RATE = 24000 -CHUNK_SIZE = 1024 +CHUNK_SIZE = 1024 # Gemini Live model and default settings MODEL = "models/gemini-2.5-flash-live-preview" @@ -42,17 +40,13 @@ # System instructions to guide Gemini's behavior and tool usage. system_instructions = """ You have access to the tools provided by ros_mcp_server. - To connect to the robot, use ip 192.168.52.129, port 9090. When successfuly connected, reply just "Succesfully connected". + When successfuly connected, reply just "Succesfully connected". """ # Create server parameters for stdio connection server_params = StdioServerParameters( command="uv", # Executable - args=[ - "--directory", - "/home/trace/ros-mcp-server", - "run", - "server.py"], + args=["--directory", "/home/trace/ros-mcp-server", "run", "server.py"], env=None, ) @@ -72,7 +66,12 @@ class AudioLoop: Manages real-time audio streaming, video capture, and tool calls through MCP """ - def __init__(self, video_mode=DEFAULT_VIDEO_MODE, response_modality=DEFAULT_RESPONSE_MODALITY, active_muting=True): + def __init__( + self, + video_mode=DEFAULT_VIDEO_MODE, + response_modality=DEFAULT_RESPONSE_MODALITY, + active_muting=True, + ): """ Initialize the AudioLoop with specified video mode and response modality. """ @@ -110,8 +109,7 @@ async def send_text(self): break await self.session.send_client_content( - turns={"role": "user", "parts": [{"text": text or "."}]}, - turn_complete=True + turns={"role": "user", "parts": [{"text": text or "."}]}, turn_complete=True ) async def handle_tool_call(self, tool_call): @@ -132,13 +130,13 @@ async def handle_tool_call(self, tool_call): # Convert MCP result to JSON-serializable format # The result is a CallToolResult object with 'content' list result_content = [] - if hasattr(result, 'content'): + if hasattr(result, "content"): for content_item in result.content: # Handle TextContent objects with 'text' attribute - if hasattr(content_item, 'text'): + if hasattr(content_item, "text"): result_content.append(content_item.text) # Handle objects that can be dumped to dict - elif hasattr(content_item, 'model_dump'): + elif hasattr(content_item, "model_dump"): dumped = content_item.model_dump() # If it's a dict, convert to string representation if isinstance(dumped, dict): @@ -154,7 +152,7 @@ async def handle_tool_call(self, tool_call): # Fallback to string conversion else: result_content.append(str(content_item)) - + # Join content items into a single result string result_text = "\n".join(result_content) if result_content else str(result) @@ -303,7 +301,7 @@ async def listen_audio(self): # Configure overflow handling for debug vs release overflow_kwargs = {"exception_on_overflow": False} if __debug__ else {} - + stream_active = True # Continuously read audio data @@ -311,13 +309,13 @@ async def listen_audio(self): # Check if mic should be active async with self.mic_lock: mic_currently_active = self.mic_active - + if mic_currently_active: # If stream was stopped, restart it if not stream_active: await asyncio.to_thread(self.audio_stream.start_stream) stream_active = True - + # Small sleep to prevent CPU overuse await asyncio.sleep(0.01) # Read audio data @@ -330,7 +328,7 @@ async def listen_audio(self): if stream_active: await asyncio.to_thread(self.audio_stream.stop_stream) stream_active = False - + # Just sleep while muted - no audio is being captured await asyncio.sleep(0.1) @@ -354,7 +352,7 @@ async def receive_audio(self): # Handle audio data from inline_data parts if part.inline_data: self.audio_in_queue.put_nowait(part.inline_data.data) - + # Handle text responses if part.text: text_content = part.text @@ -437,7 +435,7 @@ async def play_audio(self): else: audio_playing = False continue - + # If this is the first audio chunk in a sequence, mute the microphone (if enabled) if not audio_playing: if self.active_muting: @@ -445,15 +443,15 @@ async def play_audio(self): self.mic_active = False audio_playing = True print("šŸ”‡ Microphone muted while audio is playing") - + # Add a delay to ensure the mic is fully muted before audio starts await asyncio.sleep(0.25) else: audio_playing = True - + # Play the audio await asyncio.to_thread(audio_stream.write, audio_bytes) - + # Check if the queue is empty (reached end of audio) if self.audio_in_queue.qsize() == 0: # Wait briefly to make sure no more chunks are coming @@ -468,7 +466,7 @@ async def play_audio(self): print("šŸŽ¤ Microphone unmuted after audio playback") else: audio_playing = False - + except Exception as e: print(f"šŸ”“ Audio playback error: {str(e)}") # Re-enable microphone in case of error (if muting is enabled) @@ -492,10 +490,9 @@ async def run(self): # Connect to MCP server using stdio async with stdio_client(server_params) as (read, write): async with ClientSession(read, write) as mcp_session: - # Initialize the connection between client and server await mcp_session.initialize() - + # Store MCP session for tool calling self.mcp_session = mcp_session @@ -579,9 +576,7 @@ async def run(self): prebuilt_voice_config=types.PrebuiltVoiceConfig(voice_name="Charon") ) ), - system_instruction=types.Content( - parts=[types.Part(text=system_instructions)] - ), + system_instruction=types.Content(parts=[types.Part(text=system_instructions)]), tools=tools, ) @@ -595,9 +590,7 @@ async def run(self): # Initialize communication queues self.audio_in_queue = asyncio.Queue() # Audio from Gemini - self.out_queue = asyncio.Queue( - maxsize=5 - ) # Data to Gemini (limited size) + self.out_queue = asyncio.Queue(maxsize=5) # Data to Gemini (limited size) # Start all async tasks send_text_task = task_group.create_task(self.send_text()) @@ -648,7 +641,7 @@ async def run(self): ) parser.add_argument( "--active-muting", - type=lambda x: x.lower() == 'true', + type=lambda x: x.lower() == "true", default=True, help="Mute microphone during audio playback (true/false, default: true)", ) @@ -656,8 +649,6 @@ async def run(self): # Initialize and run the audio loop audio_loop = AudioLoop( - video_mode=args.video, - response_modality=args.responses, - active_muting=args.active_muting + video_mode=args.video, response_modality=args.responses, active_muting=args.active_muting ) asyncio.run(audio_loop.run()) From 0e8bc4125c9acedbfa59c5ef0b0a08248b9448cd Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 13:03:10 -0500 Subject: [PATCH 10/13] Updated readme to use uv --- examples/2_gemini/gemini_live/README.md | 85 +++++++++++-------------- 1 file changed, 38 insertions(+), 47 deletions(-) diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md index cb5792a..af14576 100644 --- a/examples/2_gemini/gemini_live/README.md +++ b/examples/2_gemini/gemini_live/README.md @@ -12,63 +12,59 @@ Control ROS robots with voice commands using Google's Gemini Live API. 1. **Install ROS MCP Server**: Follow the [installation guide](../../../docs/installation.md) 2. **Install system dependencies** (required for audio): - ```bash - sudo apt-get update - sudo apt-get install portaudio19-dev - ``` +```bash +sudo apt-get update +sudo apt-get install portaudio19-dev +``` 3. **Install additional dependencies for Gemini Live**: - - ```bash - # Navigate to the ros-mcp-server root directory - cd ros-mcp-server - - # Activate the existing virtual environment - source .venv/bin/activate - - # Install the additional dependencies needed for Gemini Live - pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup - ``` + +```bash +# Navigate to the ros-mcp-server root directory +cd ros-mcp-server + +# Install the additional dependencies needed for Gemini Live +uv pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup +``` + +**Note**: The main ros-mcp-server project already includes most dependencies (mcp, opencv-python, pillow). We only need to add the Gemini-specific packages. 4. **Get Google API Key**: Visit [Google AI Studio](https://aistudio.google.com) and create an API key 5. **Create a `.env` file in the `gemini_live` folder**: - ```env - GOOGLE_API_KEY="your_google_api_key_here" - ``` - Replace with your API key. +```bash +cd /examples/2_gemini/gemini_live +echo "GOOGLE_API_KEY="your_google_api_key_here"" > .env +``` +Replace with your API key. 6. **Create `mcp_config.json` in the gemini_live folder**: Replace `/absolute/path/to/ros-mcp-server` with your actual path. - ```json - { - "mcpServers": { - "ros-mcp-server": { - "command": "uv", - "args": [ - "--directory", - "/absolute/path/to/ros-mcp-server", - "run", - "server.py" - ] - } +```json +{ + "mcpServers": { + "ros-mcp-server": { + "command": "uv", + "args": [ + "--directory", + "/absolute/path/to/ros-mcp-server", + "run", + "server.py" + ] } - } - ``` + } + } +``` ## Usage **Start Gemini Live:** ```bash -# Navigate to ros-mcp-server root and activate the virtual environment -cd ros-mcp-server -source .venv/bin/activate - -# Navigate to the gemini_live example -cd examples/2_gemini/gemini_live +# Navigate to the gemini_live folder +cd ros-mcp-server/examples/2_gemini/gemini_live # Run the client (with defaults: no video, audio responses, mic muting enabled) -python gemini_client.py +uv run gemini_client.py ``` **Command-line options:** @@ -88,7 +84,7 @@ python gemini_client.py **Example usage:** ```bash -python gemini_client.py --video=camera --responses=TEXT --active-muting=false +uv run gemini_client.py --video=camera --responses=TEXT --active-muting=false ``` Type `q` + Enter to quit. @@ -130,13 +126,8 @@ See [Turtlesim Tutorial](../../1_turtlesim/README.md) for more examples. - Verify `.env` file exists with correct key - Check key is active in Google AI Studio -**Virtual environment issues?** -- Make sure you activate the venv from the ros-mcp-server root: `cd ros-mcp-server && source .venv/bin/activate` -- This example uses the same virtual environment as the main ros-mcp-server project -- To deactivate when done: `deactivate` - **Dependency issues?** -- If you get import errors, make sure you installed the additional dependencies: `pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup` +- If you get import errors, make sure you installed the additional dependencies: `uv pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup` ## Contributed by Trace LaRue From 5b82396e21712905d6e8548e9195cf9c129a0e87 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 13:19:20 -0500 Subject: [PATCH 11/13] Updated gemini_client.py to pull from mcp_config.json. --- examples/2_gemini/gemini_live/README.md | 8 ++--- .../2_gemini/gemini_live/gemini_client.py | 35 +++++++++++++++++-- 2 files changed, 36 insertions(+), 7 deletions(-) diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md index af14576..3736033 100644 --- a/examples/2_gemini/gemini_live/README.md +++ b/examples/2_gemini/gemini_live/README.md @@ -1,6 +1,6 @@ # Gemini Live with ROS MCP Server -Control ROS robots with voice commands using Google's Gemini Live API. +Control ROS robots with natural language voice commands using Google's Gemini Live API. **Pre-requisites** See the [installation instructions](../../../docs/installation.md) for detailed setup steps. @@ -33,8 +33,8 @@ uv pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup 5. **Create a `.env` file in the `gemini_live` folder**: ```bash -cd /examples/2_gemini/gemini_live -echo "GOOGLE_API_KEY="your_google_api_key_here"" > .env +cd examples/2_gemini/gemini_live +echo "GOOGLE_API_KEY=your_google_api_key_here" > .env ``` Replace with your API key. @@ -53,7 +53,7 @@ Replace `/absolute/path/to/ros-mcp-server` with your actual path. ] } } - } +} ``` ## Usage diff --git a/examples/2_gemini/gemini_live/gemini_client.py b/examples/2_gemini/gemini_live/gemini_client.py index 4f00b34..dc382bc 100644 --- a/examples/2_gemini/gemini_live/gemini_client.py +++ b/examples/2_gemini/gemini_live/gemini_client.py @@ -2,6 +2,7 @@ import asyncio import base64 import io +import json import os import sys import traceback @@ -43,11 +44,39 @@ When successfuly connected, reply just "Succesfully connected". """ + +# Load MCP server configuration from mcp_config.json +def load_mcp_config(): + """Load MCP server configuration from mcp_config.json file.""" + config_path = os.path.join(os.path.dirname(__file__), "mcp_config.json") + + if not os.path.exists(config_path): + raise FileNotFoundError( + f"mcp_config.json not found at {config_path}. " + "Please create it following the README instructions." + ) + + with open(config_path, "r") as f: + config = json.load(f) + + # Extract ros-mcp-server configuration + if "mcpServers" not in config or "ros-mcp-server" not in config["mcpServers"]: + raise ValueError( + "Invalid mcp_config.json: missing 'mcpServers.ros-mcp-server' configuration" + ) + + server_config = config["mcpServers"]["ros-mcp-server"] + return server_config + + +# Load server configuration +mcp_config = load_mcp_config() + # Create server parameters for stdio connection server_params = StdioServerParameters( - command="uv", # Executable - args=["--directory", "/home/trace/ros-mcp-server", "run", "server.py"], - env=None, + command=mcp_config["command"], + args=mcp_config["args"], + env=mcp_config.get("env"), ) client = genai.Client( From 0d49d9591aa8bdb4898e34534b9862d4532652e1 Mon Sep 17 00:00:00 2001 From: tracelarue Date: Sat, 4 Oct 2025 14:03:26 -0500 Subject: [PATCH 12/13] Readme updated af testing --- examples/2_gemini/gemini_live/README.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/examples/2_gemini/gemini_live/README.md b/examples/2_gemini/gemini_live/README.md index 3736033..e0638a1 100644 --- a/examples/2_gemini/gemini_live/README.md +++ b/examples/2_gemini/gemini_live/README.md @@ -14,7 +14,7 @@ Control ROS robots with natural language voice commands using Google's Gemini Li 2. **Install system dependencies** (required for audio): ```bash sudo apt-get update -sudo apt-get install portaudio19-dev +sudo apt-get install python3-dev portaudio19-dev ``` 3. **Install additional dependencies for Gemini Live**: @@ -34,7 +34,10 @@ uv pip install google-genai pyaudio python-dotenv mss exceptiongroup taskgroup 5. **Create a `.env` file in the `gemini_live` folder**: ```bash cd examples/2_gemini/gemini_live -echo "GOOGLE_API_KEY=your_google_api_key_here" > .env +``` + +```env +GOOGLE_API_KEY="your_google_api_key_here" ``` Replace with your API key. @@ -79,7 +82,7 @@ uv run gemini_client.py - `--responses=AUDIO` - Audio responses (default) **Microphone muting** (`--active-muting`): -- `--active-muting=true` - Mute mic during audio playback (default, prevents echo/feedback) +- `--active-muting=true` - Mute mic during audio playback (default, prevents echo/feedback). Recommended if not using headphones. - `--active-muting=false` - Keep mic active during audio playback **Example usage:** From 753a554d8b212ad01d69903c876dbc29bd5d5547 Mon Sep 17 00:00:00 2001 From: Stefano Dalla Gasperina Date: Sat, 4 Oct 2025 23:30:56 -0500 Subject: [PATCH 13/13] Update .gitignore --- .gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 38aa551..fc48892 100644 --- a/.gitignore +++ b/.gitignore @@ -186,4 +186,4 @@ examples/2_gemini/gemini_live/.env examples/2_gemini/gemini_live/venv/ # tests -tests/* \ No newline at end of file +tests/