Test the connection to the ROS2 bridge. Returns status and active node count. Call this before any other tool to verify the server is reachable.

Run a full robot health check. Returns battery level, LiDAR status, IMU health, active node count, and lists of critical issues and warnings. ALWAYS call this first when the user asks 'what's wrong?' or 'is the robot ready?'

List all active ROS2 topics and their message types.

Read the latest message from a ROS2 topic. Returns the serialized message and data age in milliseconds. For latched topics (/map, /robot_description), set latched=true.

Publish a message to a ROS2 topic. Sandboxed: blocked in READ_ONLY mode; allowlisted in SAFE_WRITE mode.

Fetch LiDAR, IMU, battery, cmd_vel, and odometry in one parallel call. Faster than calling read_topic five times sequentially.

List all currently running ROS2 nodes with their namespaces.

Inspect a specific ROS2 node and find its related topics (exact name match).

Read a live parameter value from a running ROS2 node.

Dynamically update a parameter on a running ROS2 node. Sandboxed — only allowlisted parameters can be modified in SAFE_WRITE mode.

Read current Kp, Ki, Kd gains from a PID controller node, with safety bounds.

Apply new PID gains to a controller node with safety bounds validation. Gains are validated BEFORE reaching hardware — negative gains are rejected. Returns tuning guidance based on control theory.

[WORLD-FIRST] Pre-simulate robot trajectory (x,y,theta) over time dt_sec in 1000Hz fast-forward simulation (<0.1ms compute) BEFORE sending commands to hardware.

[WORLD-FIRST] Evaluates proposed parameter or velocity commands against dynamic stability bounds, auto-correcting unsafe LLM inputs and returning mathematical proof.

[WORLD-FIRST] Converts 360° LiDAR pointclouds into a 2D ASCII spatial radar grid directly inside MCP response JSON, allowing text & vision LLMs to 'see' surrounding space.

[WORLD-FIRST] Scans multi-namespace ROS2 graph (/drone_1, /rover_2, /arm_3) and aggregates multi-robot fleet health in one call.