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ajtudela

Nav2 MCP Server

by ajtudela
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Python
Hybrid

Nav2 MCP Server

ROS2 License Build Docker image Python Dynamic TOML Badge codecov

An MCP (Model Context Protocol) server that provides tools and resources to control and monitor Nav2 navigation operations, allowing seamless integration with Nav2-enabled robots through the MCP protocol.

Demo of Nav2 MCP Server

Features

  • Navigation control: Navigate to specific poses, follow waypoint sequences, and execute precise robot movements

  • Real-time status: Monitor navigation progress, robot pose, and system status with comprehensive feedback

  • Costmap management: Clear stale obstacle data and manage navigation costmaps for optimal path planning

  • Lifecycle management: Control Nav2 system startup and shutdown for complete system control

  • ROS 2 integration: Full compatibility with Nav2 navigation stack and ROS 2 ecosystem

  • Async operations: Non-blocking navigation commands with progress monitoring and cancellation support

Related MCP server: Apollo Universal MCP Server

Tools

Tool

Description

Parameters

navigate_to_pose

Navigate the robot to a specific pose (position and orientation) in the map frame

x: float, y: float, yaw: float

follow_waypoints

Navigate the robot through a sequence of waypoints in order

waypoints: str (JSON array)

spin_robot

Rotate the robot in place by a specified angle

angle: float

backup_robot

Move the robot backward by a specified distance

distance: float, speed: float

dock_robot

Dock the robot to a charging station or dock

x: float, y: float, yaw: float, dock_id: str, dock_type: str, nav_to_dock: bool

undock_robot

Undock the robot from a charging station or dock

dock_type: str

clear_costmaps

Clear robot navigation costmaps to remove stale obstacle data

costmap_type: str

get_robot_pose

Get the current position and orientation of the robot

—

cancel_navigation

Cancel the currently active navigation task

—

nav2_lifecycle

Control Nav2 lifecycle (startup or shutdown)

action: str

get_path

Compute a navigation path between two poses

start_x: float, start_y: float, start_yaw: float, goal_x: float, goal_y: float, goal_yaw: float, planner_id: str

get_path_from_robot

Compute a navigation path from the robot's current pose to a goal pose

goal_x: float, goal_y: float, goal_yaw: float, planner_id: str

Environment Variables

Variable

Default

Description

ROS_DOMAIN_ID

—

ROS 2 domain ID for network isolation (recommended to set)

ROS_LOCALHOST_ONLY

—

Set to '1' to restrict ROS 2 communication to localhost only

Configuration

Environment Variables

Variable

Default

Description

TRANSPORT_MODE

stdio

Transport mode: stdio (local integration) or http (network)

HTTP_HOST

0.0.0.0

HTTP host binding (only used when TRANSPORT_MODE=http)

HTTP_PORT

3001

HTTP port (only used when TRANSPORT_MODE=http)

LOG_LEVEL

INFO

Logging level: DEBUG, INFO, WARNING, ERROR, CRITICAL

ROS_DOMAIN_ID

—

ROS 2 domain ID for network isolation (recommended)

ROS_LOCALHOST_ONLY

—

Set to '1' to restrict ROS 2 communication to localhost only

Setup

  1. Copy the environment configuration template:

cp .env.example .env

  1. Edit .env to customize settings:

# Transport mode: 'stdio' for local, 'http' for containerized/network
TRANSPORT_MODE=stdio

# HTTP settings (only needed if using http transport)
HTTP_HOST=0.0.0.0
HTTP_PORT=3001

# Logging
LOG_LEVEL=INFO

Installation

Dependencies

Install with uv

Clone the repository and install with uv:

git clone https://github.com/ajtudela/nav2_mcp_server.git
cd nav2_mcp_server
# Set up ROS 2 environment variables if needed
export ROS_DOMAIN_ID=0
uv sync

Or install directly from the repository:

uv add git+https://github.com/ajtudela/nav2_mcp_server.git

Docker

Build the image

Build the image:

docker build -t nav2-mcp-server:latest .

Pull the image

Pull the latest image from the Docker registry:

docker pull ghcr.io/ajtudela/nav2_mcp_server:latest

Usage

Running with uv

uv run nav2_mcp_server

Configuration example for Claude Desktop/Cursor/VSCode

Add this configuration to your application's settings (mcp.json):

Using uv (stdio transport)

{
  "nav2 mcp server": {
    "type": "stdio",
    "command": "uv",
    "args": [
      "run",
      "--directory",
      "/path/to/nav2_mcp_server",
      "nav2-mcp-server"
    ],
    "env": {
      "ROS_DOMAIN_ID": "0",
      "ROS_LOCALHOST_ONLY": "1"
    }
  }
}

Using Docker (stdio transport)

"nav2 mcp server": {
    "type": "stdio",
    "command": "docker",
    "args": [
        "run",
        "-i",
        "--rm",
        "ghcr.io/ajtudela/nav2_mcp_server"
    ],
    "env": {
      "ROS_DOMAIN_ID": "0",
      "ROS_LOCALHOST_ONLY": "1"
    }
}

Using HTTP transport

"nav2 mcp server": {
  "type": "http",
  "url": "http://localhost:3001/mcp",
  "env": {
    "TRANSPORT_MODE": "http",
    "LOG_LEVEL": "INFO"
  }
}

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