"""Test node tools prompts for ROS MCP Server."""
def register_test_nodes_tools_prompts(mcp):
"""Register test node tools prompts with the MCP server."""
@mcp.prompt(name="test-nodes-tools")
def test_nodes_tools() -> str:
"""
Guide users on how to test and explore the ROS node tools.
This prompt provides step-by-step instructions for testing node operations,
including getting node lists, node details, and comprehensive node inspection.
Returns:
str: Comprehensive guide for testing node tools
"""
return """# Testing ROS Node Tools - Detailed Guide
This is a detailed guide for testing node tools. For a quick overview of all ROS MCP Server tools, see `test-server-tools`.
## When to Use This Guide
Use this detailed guide when:
- The main node tools from `test-server-tools` are not working
- You need step-by-step instructions for each node tool
- You need troubleshooting help for specific node tool issues
- You want to understand node tool details and advanced usage
- You need to test node resources or advanced features
For a quick high-level overview, see `test-server-tools`.
## Prerequisites
Before testing node tools, ensure you have:
1. **Active ROS connection** - Connect to a ROS system first:
```
connect_to_robot(ip='127.0.0.1', port=9090)
```
2. **Running ROS nodes** - Make sure you have some nodes running in your ROS system.
Common nodes include:
- `/turtlesim` - Turtlesim simulator
- `/rosbridge_websocket` - Rosbridge server
- `/rosapi` - ROS API service provider
- `/cam2image` - Camera image publisher
## Node Tools Overview
The ROS MCP Server provides the following node tools:
1. **get_nodes()** - Get list of all currently running ROS nodes
2. **get_node_details(node)** - Get detailed information about a specific node
Additionally, comprehensive information about all nodes is available as a resource:
- **ros-mcp://ros-metadata/nodes/all** - Get detailed information about all nodes (publishers, subscribers, services)
## Step 1: Get List of All Nodes
Start by discovering what nodes are running in your ROS system:
```
get_nodes()
```
This will return:
- `nodes`: List of all active node names
- `node_count`: Total number of nodes
**Example:**
```
get_nodes()
```
**Expected Response:**
```json
{
"nodes": ["/turtlesim", "/rosbridge_websocket", "/rosapi"],
"node_count": 3
}
```
## Step 2: Get Details for a Specific Node
Get detailed information about a specific node, including what it publishes, subscribes to, and what services it provides:
```
get_node_details('/node_name')
```
**Examples:**
```
get_node_details('/turtlesim')
get_node_details('/rosapi')
get_node_details('/cam2image')
```
**Response includes:**
- `node`: The node name
- `publishers`: List of topics this node publishes to
- `subscribers`: List of topics this node subscribes to
- `services`: List of services this node provides
- `publisher_count`: Number of publishers
- `subscriber_count`: Number of subscribers
- `service_count`: Number of services
**Example Response:**
```json
{
"node": "/turtlesim",
"publishers": ["/turtle1/pose", "/turtle1/color_sensor"],
"subscribers": ["/turtle1/cmd_vel"],
"services": ["/turtle1/teleport_absolute", "/turtle1/teleport_relative"],
"publisher_count": 2,
"subscriber_count": 1,
"service_count": 2
}
```
## Step 3: Get All Nodes Details (Resource)
Get comprehensive information about all nodes at once using the resource:
**Resource URI:** `ros-mcp://ros-metadata/nodes/all`
This resource provides:
- Details for every node in the system
- Publishers, subscribers, and services for each node
- Connection counts and statistics
- Any errors encountered during inspection
**How to access:**
The resource can be accessed through the MCP resource interface. It returns a JSON string with comprehensive node information.
**Response includes:**
- `total_nodes`: Total number of nodes
- `nodes`: Dictionary with details for each node
- `node_errors`: List of any errors encountered (if any)
**Example Response:**
```json
{
"total_nodes": 3,
"nodes": {
"/turtlesim": {
"publishers": ["/turtle1/pose", "/turtle1/color_sensor"],
"subscribers": ["/turtle1/cmd_vel"],
"services": ["/turtle1/teleport_absolute"],
"publisher_count": 2,
"subscriber_count": 1,
"service_count": 1
},
"/rosapi": {
"publishers": [],
"subscribers": [],
"services": ["/rosapi/topics", "/rosapi/services"],
"publisher_count": 0,
"subscriber_count": 0,
"service_count": 2
}
},
"node_errors": []
}
```
## Node Naming Convention
ROS nodes use the format: `/node_name`
- Node names always start with `/`
- Node names are case-sensitive
- Common nodes include:
- `/turtlesim` - Turtlesim simulator
- `/rosbridge_websocket` - Rosbridge server
- `/rosapi` - ROS API service provider
- `/rosapi_params` - ROS API parameters service (ROS 2)
## Troubleshooting
### "No nodes found" or Empty Node List
**Problem:** `get_nodes()` returns no nodes or a warning
**Solutions:**
- Verify ROS connection: `connect_to_robot()`
- Check if ROS system is running: `detect_ros_version()`
- Ensure nodes are actually running in your ROS system
- Try launching some nodes: `rosrun` (ROS 1) or `ros2 run` (ROS 2)
### "Node not found" Error
**Problem:** `get_node_details()` returns "Node not found"
**Solutions:**
- Verify the node name is correct (case-sensitive)
- Check if the node is actually running: `get_nodes()`
- Ensure node name starts with `/`
- Node might have stopped running - check again with `get_nodes()`
### "Service call failed" Error
**Problem:** Service call to get node information fails
**Solutions:**
- Verify rosbridge connection is active
- Check if `/rosapi/nodes` or `/rosapi/node_details` services are available
- Try reconnecting: `connect_to_robot()`
- Check ROS system is responsive
### Empty Publishers/Subscribers/Services
**Problem:** Node exists but has no publishers, subscribers, or services
**Solutions:**
- This is normal for some nodes (e.g., service-only nodes)
- Node might be in initialization phase
- Check if node is fully started
- Some nodes only provide services and don't publish/subscribe
## Tips
- **Start with `get_nodes()`** - Always start by discovering what nodes are available
- **Use `get_node_details()` for specific nodes** - More efficient than getting all nodes details
- **Use the resource `ros-mcp://ros-metadata/nodes/all` for complete overview** - Provides comprehensive information about all nodes
- **Node names are case-sensitive** - `/Turtlesim` is different from `/turtlesim`
- **Nodes can be added/removed dynamically** - Re-run `get_nodes()` if you expect changes
- **Combine with topic tools** - Use node details to understand topic connections
- **Combine with service tools** - Use node details to discover available services
## Related Guides
- **`test-server-tools`** - High-level overview of all ROS MCP Server tools
"""
