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ros2-mcp

by mergeos-bounties
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ros2-mcp

ros2-mcp is an MCP (Model Context Protocol) server so AI agents can inspect and control ROS2 graphs: topics, nodes, services, parameters, and simple pub/echo — without hand-writing ros2 CLI each time.

Mode

When

mock (default)

Offline Windows / CI — seeded demo graph (turtlesim-like + cmd_vel)

live

Host has ROS2 + rclpy — real graph via subprocess ros2 CLI bridge

Org: mergeos-bounties · MergeOS MRG bounties.

Why

  • AI tools need a stable tool schema for robotics work (list → echo → pub → service).

  • Full ROS2 on every contributor machine is heavy; mock mode is always runnable.

  • Pairs with Lappa (ROS2 package IDE): Lappa for edit/sim UI, ros2-mcp for agent control.

Related MCP server: WiseVision/mcp_server_ros_2

Quick start

cd D:\ThanhTrucSolutions\ros2-mcp
python -m venv .venv
.\.venv\Scripts\activate
pip install -e ".[dev]"

ros2-mcp demo
ros2-mcp tools list
ros2-mcp serve

Wire into Grok / Cursor / Claude Desktop

Grok (~/.grok/config.toml):

[mcp_servers.ros2]
command = "ros2-mcp"
args = ["serve"]
# or: command = "python", args = ["-m", "ros2_mcp", "serve"]
enabled = true

Cursor / Claude example JSON:

{
  "mcpServers": {
    "ros2": {
      "command": "ros2-mcp",
      "args": ["serve"],
      "env": { "ROS2_MCP_MODE": "mock" }
    }
  }
}

See examples/.

MCP tools

Tool

Description

ros2_mode

Get/set backend mode (mock / live)

ros2_list_topics

List topics (+ optional types)

ros2_topic_info

Type, publishers, subscribers

ros2_topic_echo

Last N messages from buffer / live snapshot

ros2_topic_pub

Publish JSON payload once or N times

ros2_list_nodes

List nodes

ros2_node_info

Pubs/subs/services for a node

ros2_list_services

List services

ros2_service_call

Call service with JSON request

ros2_list_params

List parameters (node optional)

ros2_get_param / ros2_set_param

Parameter get/set

ros2_graph_summary

Compact graph overview for the model

ros2_tf_tree

TF frames (mock map→odom→base_link)

ros2_list_actions / ros2_action_send_goal

Actions (mock nav2 + turtlesim)

ros2_doctor

Environment / connectivity check

ros2_seed_demo

Reset mock turtlesim-like graph

CLI

ros2-mcp demo              # offline smoke of all mock tools
ros2-mcp tools list        # print tool names
ros2-mcp serve             # stdio MCP server (for hosts)
ros2-mcp call list_topics  # one-shot tool call (mock)

Env

Variable

Default

Meaning

ROS2_MCP_MODE

mock

mock or live

ROS2_MCP_DOMAIN_ID

0

Hint for live ROS_DOMAIN_ID

ROS2_MCP_ROS2_BIN

ros2

Path to ros2 CLI

ROS2_MCP_PUB_ALLOWLIST

(empty)

Comma topics allowed in live publish (safety)

Layout

src/ros2_mcp/
  server.py       # FastMCP app
  cli.py
  backend/        # mock + live ros2 CLI bridge
  tools/          # tool registration
examples/         # host config snippets
docs/BOUNTY.md

Tests

pip install -e ".[dev]"
ruff check src tests
pytest -q
ros2-mcp demo

MergeOS bounties

  1. Star this repo + mergeos

  2. Claim a bounty issue

  3. Claim on MergeOS issue #1

  4. PR to ros2-mcp with tests

  5. Credit MRG 25 / 50 / 100 / 200

See docs/BOUNTY.md.

License

MIT

This server cannot be installed

A
license - permissive license
-
quality - not tested
D
maintenance

How are these scores calculated?

Maintenance

–Maintainers
–Response time
–Release cycle
–Releases (12mo)
Commit activity

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