ros2-mcp-server

@kakimochi

About ros2-mcp-server

No overview available yet

Config

Add this server to your MCP-compatible client using the configuration below.

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

Tools

No tools detected

We auto-extract tools from the README. The maintainer can list them under a ## Tools heading to populate this section.

Overview

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.

FAQ from ros2-mcp-server

What ROS 2 distribution is required?

ROS 2 Humble must be installed and sourced.

What Python version is needed?

Python 3.10 is required for compatibility with ROS 2 Humble.

What topic does the server publish to?

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

Can I use other topics or services?

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

How do I verify the robot is receiving commands?

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

Frequently asked questions

What ROS 2 distribution is required?

ROS 2 Humble must be installed and sourced.

What Python version is needed?

Python 3.10 is required for compatibility with ROS 2 Humble.

What topic does the server publish to?

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

Can I use other topics or services?

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

How do I verify the robot is receiving commands?

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

Comments

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