ROS MCP Server

"""Test parameter tools prompts for ROS MCP Server.""" def register_test_parameters_tools_prompts(mcp): """Register test parameter tools prompts with the MCP server.""" @mcp.prompt(name="test-parameters-tools") def test_parameters_tools() -> str: """ Guide users on how to test and explore the ROS parameter tools. This prompt provides step-by-step instructions for testing parameter operations, including getting, setting, checking, and deleting parameters in ROS 2. Returns: str: Comprehensive guide for testing parameter tools """ return """# Testing ROS Parameter Tools - Detailed Guide This is a detailed guide for testing parameter tools. For a quick overview of all ROS MCP Server tools, see `test-server-tools`. **Note: Parameter tools work only with ROS 2.** ## When to Use This Guide Use this detailed guide when: - The main parameter tools from `test-server-tools` are not working - You need step-by-step instructions for each parameter tool - You need troubleshooting help for specific parameter tool issues - You want to understand parameter tool details and advanced usage - You need to test parameter resources or advanced features For a quick high-level overview, see `test-server-tools`. ## Prerequisites Before testing parameter tools, ensure you have a working ROS 2 setup: 1. **Verify ROS 2 connection:** ``` detect_ros_version() ``` This should return ROS 2 (e.g., "humble", "foxy", "iron"). Parameter tools only work with ROS 2, not ROS 1. 2. **Check available nodes:** ``` get_nodes() ``` This lists all running nodes. You'll need node names to get their parameters. Common nodes include: - `/turtlesim` - Turtlesim simulator - `/cam2image` - Camera image publisher - `/rosbridge_websocket` - Rosbridge server 3. **Verify node services:** Each ROS 2 node should have a `/list_parameters` service. You can check if a service exists: ``` get_services() ``` Look for services like `/turtlesim/list_parameters` or `/cam2image/list_parameters`. 4. **Test basic connectivity:** If you can successfully call `get_nodes()` and `get_services()`, your connection is working and ready for parameter operations. ## Step 1: Get Parameters for a Node Start by listing all available parameters for a specific node: ``` get_parameters('cam2image') get_parameters('/turtlesim') ``` This will return a list of all parameter names for the specified node. The node name can be provided with or without a leading slash. The function uses the node-specific `/list_parameters` service which is more reliable than the global parameter service. ## Step 2: Check if a Parameter Exists Before getting or setting a parameter, you can check if it exists: ``` has_parameter('/node_name:parameter_name') ``` Example: ``` has_parameter('/turtlesim:background_r') ``` ## Step 3: Get a Single Parameter Value Retrieve the value of a specific parameter: ``` get_parameter('/node_name:parameter_name') ``` Examples: ``` get_parameter('/turtlesim:background_r') get_parameter('/turtlesim:background_g') get_parameter('/turtlesim:background_b') ``` ## Step 4: Get Detailed Parameter Information Get comprehensive information about a parameter including its type and metadata: ``` get_parameter_details('/node_name:parameter_name') ``` Example: ``` get_parameter_details('/turtlesim:background_r') ``` This returns: - Parameter name - Current value - Parameter type (int, string, bool, float, etc.) - Whether it exists - Description (if available) - Node name and parameter name (parsed) ## Step 5: Set a Parameter Value Modify a parameter value: ``` set_parameter('/node_name:parameter_name', 'value') ``` Examples: ``` set_parameter('/turtlesim:background_r', '255') set_parameter('/turtlesim:background_g', '0') set_parameter('/turtlesim:background_b', '0') ``` **Note:** Parameter values should be passed as strings, even for numeric types. ## Step 6: Get Parameters for Multiple Nodes To get parameters for multiple nodes, call `get_parameters()` for each node: ``` get_parameters('cam2image') get_parameters('turtlesim') get_parameters('rosbridge_websocket') ``` Each call returns parameters formatted with the node prefix (e.g., `/cam2image:parameter_name`). ## Step 7: Delete a Parameter Remove a parameter from the system: ``` delete_parameter('/node_name:parameter_name') ``` Example: ``` delete_parameter('/my_node:temp_parameter') ``` **Warning:** Be careful when deleting parameters as this may affect node behavior. ## Parameter Naming Convention ROS 2 parameters use the format: `/node_name:parameter_name` - The node name comes before the colon - The parameter name comes after the colon - Both parts are required Examples: - `/turtlesim:background_r` - parameter `background_r` in node `turtlesim` - `/cam2image:use_sim_time` - parameter `use_sim_time` in node `cam2image` ## Common Parameter Types Parameters can be of various types: - **Integer**: `'42'`, `'0'`, `'-10'` - **Float**: `'3.14'`, `'0.5'`, `'-1.0'` - **Boolean**: `'true'`, `'false'` - **String**: `'hello'`, `'world'` - **Arrays**: `'[1, 2, 3]'` (passed as string representation) ## Troubleshooting ### "Service call failed" or timeout errors - Ensure ROS 2 is running and the target node is running - Check that you're connected to the correct ROS system - Verify the node name is correct: `get_nodes()` to see available nodes - The node must have a `/list_parameters` service (standard for ROS 2 nodes) ### "Parameter does not exist" errors - Verify the parameter name format: `/node_name:parameter_name` - Check that the node is running: `get_nodes()` - Use `get_parameters('node_name')` to see all available parameters for that node ### Parameter value format issues - Always pass parameter values as strings - For boolean values, use `'true'` or `'false'` (lowercase strings) - For arrays, pass as string representation: `'[1, 2, 3]'` ## Tips - Use `get_parameters()` first to discover available parameters - `get_parameter_details()` provides the most comprehensive information - `inspect_all_parameters()` is useful for getting a complete snapshot but may be slow - Parameter operations are ROS 2 only - they won't work with ROS 1 - Some parameters may be read-only and cannot be modified ## Related Guides - **`test-server-tools`** - High-level overview of all ROS MCP Server tools """