Provides stack health probes for Docker containers running the ROS 2 stack, including lifecycle status and optional log previews.
Integrates with Ollama as an LLM provider for natural-language mission planning, converting high-level goals into ROS execution plans.
Enables control of a Yahboom Raspbot v2 (Boomy) robot through ROS 2, including motor control, sensor integration, Nav2 navigation, and autonomous mission execution.
Click on "Deploy Server".
Wait a few minutes for the server to deploy. Once ready, it will show a "Started" state.
In the chat, type @ followed by the MCP server name and your instructions, e.g., "@yahboom-mcp make the robot drive forward 1 meter and show battery level"
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.
📖 Installation Guide — quick start, manual setup, and troubleshooting
git clone https://github.com/sandraschi/yahboom-mcp
cd yahboom-mcp
justThis opens an interactive dashboard showing all available commands. Run just bootstrap to install dependencies, then just serve or just dev to start.
If you don't have just installed:
Related MCP server: Kachaka MCP Server
Boomy is a Yahboom Raspbot v2 (Mecanum Version) robot car. Weighing in at approximately 1.0 kg and costing roughly $300 (fully loaded with a Raspberry Pi 5 16GB), it provides a unified platform for testing sensor integration, ROS 2 orchestration, and agentic (AI-driven) robotics. It's also great fun for kids of all ages.
Yahboom is a prominent player in the Chinese robotics and STEM education industry. They offer a diverse range of hardware platforms:
Market Range: From entry-level $50 DIY kits to advanced $2,000+ STEM robots with precision mechanical arms.
Industry Position: They specialize in accessible hardware for education and prototyping, positioned below enterprise-grade platforms such as Unitree or Noetix.
Developer Ecosystem: Yahboom maintains a strong commitment to a FOSS (Free and Open Source Software) stack and provides active GitHub support for developers.
Boomy utilizes a "Double-Stack" controller model to bridge real-time physical reliability with high-level cognitive tasks:
Rosmaster (ESP32 / Micro-ROS): Small-form-factor hardware controller for low-latency motor control, ultrasonic pinging, and line-sensor processing.
Raspberry Pi 5 (Optional / Gateway): The main brain for standalone operation.
For scaled deployments, Boomy can operate in a Pi-less Swarm mode:
Setup: Remove the Raspberry Pi; replace with a WiFi-to-Ethernet/UART bridge ($15).
Control: Centralized orchestration via a remote Mothership (PC with RTX 4090).
Scaling: Deploy 3+ units for the price of a single Pi-hosted robot.
This project clearly distinguishes between human-operable controls and machine-optimized interfaces:
Human Interface: A browser-based Web Dashboard (React/Vite) designed for manual telemetry observation, peripheral control (lights, OLED), and human-robot interaction.
Machine Interface: A standards-compliant MCP Server (Model Context Protocol) designed for AI agents and MCP clients to programmatic control Boomy as a tool within a larger fleet.
Pillar | Focus | Key Topics |
v2.4.0 — Ollama → ROS | Natural-language goals → LLM planning → ROS execution; vision detection (SSD MobileNet v2); ultrasonic obstacle avoidance; "find our dog" walkthrough. | |
Start here (robot + Goliath) | ROS 2 vs rosbridge_suite (software) vs USB controller tier under the Pi; boot order; Docker/systemd on the Pi; what the webapp can restart; dashboard vs diagnostics. | |
LLM → Pi missions |
| |
Dual-bus analysis | I2C (0x2b) for motors/sensors, UART for IMU/battery; register map; container layout; micro-ROS analysis. | |
| TTL SSH/TCP probes, | |
Dev install |
| |
Architecture | System design, ROS 2 node graphs, and state management. | |
Physical Layer | Wiring diagrams, I2C addresses, and sensor technical specs. | |
Boomy chassis | Chassis, mecanum, motors, lightstrip, PTZ, camera, IMU, ultrasonic, line/cliff, expansion board vs rosbridge software, Pi ports, I2C, battery, switch. | |
Connectivity | Bridge architecture, topic map, state cache, env vars, known bugs. | |
Sound System | CSK4002 module protocol, espeak-ng TTS, chatrobot architecture, audio soundboard with 17 built-in effects. | |
Ecosystem | Federated fleet standards and cross-robot communication protocols. | |
Reference | Env vars, ports, transport modes, LLM providers. | |
Reference | Dev setup, layout, test commands, five-gate. | |
Reference | MCP tools, | |
Reference | Common issues and fixes. | |
First-time setup | Hardware bring-up for Boomy (robot power, IP, sanity checks). |
Dashboard (/dashboard) — First page: basic robot link (gateway, target IP, ROS · SSH · video) and operator hints when the Raspbot is off or Goliath has no AP/Ethernet path.
Diagnostic Hub (/diagnostics) — Detail: ROS topic explorer, node list, resync / hard reset, SSH shell, stack health table (same stack payload as the dashboard when available).
Server logs (/logs) — Live yahboom-mcp log stream (SSE) on Goliath.
Historical status logs and legacy research are preserved in the docs/archive/ directory.
This project adheres to SOTA 2026 industrial standards for high-fidelity agentic orchestration:
Python (Core): Ruff for linting and formatting. Zero-tolerance for print statements in core handlers (T201).
Webapp (UI): Biome for sub-millisecond linting.
MCP: FastMCP 3.4 with Unified Gateway, portmanteau tools, skills, and agentic sampling.
LLM Providers: Auto-discovery of Ollama (:11434) and LM Studio (:1234). GPU metrics via nvidia-smi.
Automation: Justfile recipes for all fleet operations (just lint, just fix, just dev).
This server cannot be deployed
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