Which integrations are available for this server?

Provides tools to control and monitor Nav2 navigation operations within the ROS 2 ecosystem, enabling navigation, costmap management, lifecycle control, and real-time status monitoring.

How do I use Nav2 MCP Server?

1. Click on "Install Server". 2. Wait a few minutes for the server to deploy. Once ready, it will show a "Started" state. 3. In the chat, type @ followed by the MCP server name and your instructions, e.g., "@Nav2 MCP Server navigate to pose (1.0, 2.0, 0.5)" That's it! The server will respond to your query, and you can continue using it as needed. Here is a step-by-step guide with screenshots.

Nav2 MCP Server

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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: WiseVision/mcp_server_ros_2

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

Copy the environment configuration template:

cp .env.example .env

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

Robot Operating System (ROS) 2: Middleware for robotics (Jazzy)
fastmcp: MCP server framework
python: Python programming language
uv: Python package manager (optional)

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"
  }
}

This server cannot be installed

A

license - permissive license

-

quality - not tested

C

maintenance

How are these scores calculated?

Maintenance

–Maintainers

–Response time

–Release cycle

–Releases (12mo)

Commit activity

Resources

GitHub Repository

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Related Servers

Nav2 MCP Server

Nav2 MCP Server

Features

Tools

Environment Variables

Configuration

Environment Variables

Setup

Installation

Dependencies

Install with uv

Docker

Build the image

Pull the image

Usage

Running with uv

Configuration example for Claude Desktop/Cursor/VSCode

Using uv (stdio transport)

Using Docker (stdio transport)

Using HTTP transport

Maintenance

Resources

Latest Blog Posts

MCP directory API