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Ros2 MCP Server

@kakimochi

代码仓库

基本信息

分类

其他

传输方式

stdio

作者

kakimochi

关于 Ros2 MCP Server

暂无概览

Ros2 MCP Server 配置

使用下面的配置,将此服务器添加到你的 MCP 客户端。

{
  "mcpServers": {
    "ros2-mcp-server": {
      "command": "uv",
      "args": [
        "venv",
        "--python",
        "/usr/bin/python3.10"
      ]
    }
  }
}

Ros2 MCP Server 工具

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当前收录暂时没有可展示的工具列表，不代表服务没有工具。请查阅项目文档了解支持的能力。

工具是从 README 中自动提取的。维护者可以在 ## Tools 标题下列出工具,即可填充这部分内容。

概览

What is ros2-mcp-server?

ros2-mcp-server is a Python-based server that integrates the Model Context Protocol (MCP) with ROS 2, enabling AI assistants to control robots via ROS 2 topics. It processes commands through FastMCP and runs as a ROS 2 node, publishing geometry_msgs/Twist messages to the /cmd_vel topic to control robot movement.

How to use ros2-mcp-server?

Install dependencies and configure the server as an MCP transport in your client (e.g., Claude Desktop or Cline in VSCode) using the provided JSON block with uv and a bash command that sources ROS 2 and runs the script. Then send natural language movement commands or use the move_robot tool directly with linear/angular velocity and duration.

Key features of ros2-mcp-server

  • MCP integration via FastMCP for AI assistant commands.
  • Operates as a ROS 2 node publishing to /cmd_vel.
  • Supports time‑based movement with duration and stop.
  • Asynchronous processing using asyncio and ROS 2 event loop.
  • Uses stdio transport for MCP client communication.
  • Compatible with ROS 2 Humble and Python 3.10.

Use cases of ros2-mcp-server

  • Command a robot to move forward for a specific duration.
  • Test robot movement in Gazebo with TurtleBot3.
  • Integrate an AI assistant like Claude with a physical robot.
  • Prototype voice or text‑driven robot navigation tasks.

常见问题

1

What ROS 2 distribution is required?

ROS 2 Humble must be installed and sourced.

2

What Python version is needed?

Python 3.10 is required for compatibility with ROS 2 Humble.

3

What topic does the server publish to?

It publishes `geometry_msgs/Twist` messages to the `/cmd_vel` topic.

4

Can I use other topics or services?

Currently only `/cmd_vel` is supported. Extend `ros2-mcp-server.py` to add other topics or services.

5

How do I verify the robot is receiving commands?

Run `ros2 topic echo /cmd_vel` to monitor the published twist messages.

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