-
securityA
license-
qualityProvides code manipulation, execution, and version control capabilities. It allows AI assistants to read, write, and execute code while maintaining a history of changes.
Last updated -
9
MIT License
The ROS MCP Server translates natural language commands into ROS/ROS2 robot commands via WebSocket communication, enabling seamless interaction with robotic systems.
Publish Twist Messages: Control robot movement by publishing linear and angular velocity commands.
Sequential Commands: Execute a sequence of movements with specified durations.
Cross-Platform Compatibility: Operates on Linux, Windows, and MacOS.
AI Integration: Directly translates natural language inputs from LLMs/AI systems into robot actions.
Extensible Functionality: Easily add new control or sensor functions.
No Code Modifications: Works with existing ROS/ROS2 topics and services without changing robot code.
Message Support: Handles various message types including
geometry_msgs/Twist,sensor_msgs/Image, andsensor_msgs/JointState.Simulation Tested: Verified with MOCA mobile manipulator in NVIDIA Isaac Sim.
Overview
The ROS MCP Server is designed to support robots in performing complex tasks and adapting effectively to various environments by providing a set of functions that transform natural language commands, entered by a user through an LLM, into ROS commands for robot control. Furthermore, by utilizing rosbridge, it is configured to operate with both ROS and ROS2 systems, and its WebSocket-based communication enables broad applicability across diverse platforms.
Research based on this project can be found in the video linked below.
Supported Types
geometry_msgs/Twist
sensor_msgs/Image
sensor_msgs/JointState
Features
WebSocket-based universal compatibility: Communicates with both ROS and ROS2 systems using rosbridge, enabling seamless integration regardless of ROS version.
Cross-platform support: Works on Linux, Windows, and MacOS, making it suitable for diverse development and deployment environments.
Easy integration with LLMs and AI systems: Natural language commands can be directly translated into robot actions via MCP functions.
Extensible function set: Easily add new robot control or sensor functions by extending the MCP tool interface.
No ROS node modification required: Interacts with existing ROS/ROS2 topics and services without changing your robot's core code.
Native ROS/ROS2 command compatibility: Optionally supports using local ROS/ROS2 libraries, so you can run native ROS commands and tools alongside WebSocket-based control.
Contributing
Contributions are welcome!
Whether you're fixing a typo, adding a new function, or suggesting improvements, your help is appreciated.
Please follow the contributing guidelines for more details on how to contribute to this project.
Installation
Installing via Smithery
To install ros-mcp-server for Claude Desktop automatically via Smithery:
npx -y @smithery/cli install @lpigeon/ros-mcp-server --client claude
Installing Locally
uv Installation
To install
uv, you can use the following command:
curl -LsSf https://astral.sh/uv/install.sh | sh
or
pip install uv
Create virtual environment and activate it (Optional)
uv venv
source .venv/bin/activate
MCP Server Configuration
Set MCP setting to mcp.json.
"ros-mcp-server": {
"command": "uv",
"args": [
"--directory",
"/ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-mcp-server",,
"run",
"server.py"
]
}
If you use Claude Desktop, you can find mcp.json using the following command:
MacOS/Linux
code ~/Library/Application\ Support/Claude/claude_desktop_config.json
Windows
code $env:AppData\Claude\claude_desktop_config.json
MCP Functions
You can find the list of functions in the MCPFUNCTIONS.md.
How To Use
1. Set IP and Port to connect rosbridge.
Open
server.pyand change yourLOCAL_IP,ROSBRIDGE_IPandROSBRIDGE_PORT. (ROSBRIDGE_PORT's default value is9090)
2. Run rosbridge server.
ROS 1
roslaunch rosbridge_server rosbridge_websocket.launch
ROS 2
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
3. Run any AI system that has imported ros-mcp-server.
4. Type "Make the robot move forward.".
5. Check rosbridge_server and ros topic.
rosbridge_server
ros topic
Simulation Test
MCP-based control using the MOCA mobile manipulator within the NVIDIA Isaac Sim simulation environment.
remote-capable server
The server can be hosted and run remotely because it primarily relies on remote services or has no dependency on the local environment.
Tools
Facilitates robotic movement control by providing functions that enable precise manipulation of linear and angular velocities through natural language commands, compatible with both ROS and ROS2.
Related Resources
Related MCP Servers
- -securityFlicense-qualityA Python-based server that enables AI assistants to control robots by integrating the Model Context Protocol (MCP) with ROS 2, allowing for natural language commands that translate into robot movement via the /cmd\_vel topic.Last updated -66
- AsecurityAlicenseAqualityA server built on the Model Context Protocol that enables controlling the Unitree Go2 robot using natural language commands, which are translated into ROS2 instructions for the robot to perform corresponding actions.Last updated -1245Apache 2.0
- AsecurityAlicenseAqualityA server that provides both comprehensive API documentation and direct robot control capabilities for Opentrons Flex and OT-2 robots, enabling users to manage protocols, control runs, and monitor robot health through natural language.Last updated -14275MIT License