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ROS MCP

by Yutarop
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send_ros2_action_goal

Sends a goal to a ROS 2 action server, specifying the action name, type, and goal message to trigger a task.

Instructions

Sends a goal to a ROS 2 action.

Args:
    action_name: Name of the action
    action_type: Action type (e.g., example_interfaces/action/Fibonacci)
    goal: Goal message (e.g., "{order: 5}")

Example:
    action_name: "/fibonacci"
    action_type: "example_interfaces/action/Fibonacci"
    goal: "{order: 5}"

Input Schema

TableJSON Schema
NameRequiredDescriptionDefault
goalYes
action_nameYes
action_typeYes

Tool Definition Quality

B3.3/5.0
Behavior2/5

Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?

No annotations are provided, and the description does not disclose behavioral traits such as success/failure outcomes, timeouts, side effects, or authorization needs. The tool sends a goal but the result is not described.

Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.

Conciseness4/5

Is the description appropriately sized, front-loaded, and free of redundancy?

The description is concise, structured with Args and an Example section. Every sentence adds value, though the example could be more compact.

Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.

Completeness2/5

Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?

No output schema exists, and the description does not explain return values, errors, or confirmation of goal acceptance. For a tool that sends a goal, the response or outcome should be specified.

Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.

Parameters4/5

Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?

Schema description coverage is 0%, so the description must compensate. It explains each parameter (action_name, action_type, goal) with an example, adding meaning beyond the schema's type and title.

Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.

Purpose5/5

Does the description clearly state what the tool does and how it differs from similar tools?

The description clearly states the tool sends a goal to a ROS 2 action, using a specific verb and resource. It distinguishes from sibling tools like 'call_ros2_service' by specifying the action context.

Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.

Usage Guidelines2/5

Does the description explain when to use this tool, when not to, or what alternatives exist?

No guidance on when to use this tool versus alternatives (e.g., call_ros2_service, list_ros2_actions). The description only provides an example but lacks when-not or exclusion criteria.

Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.

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