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Global-MCP-Server

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Global-MCP-Server

Trae global MCP server (global-diff-ops): the operations tool for the VLA-Diff project (Phase 1 read-only + Phase 2 write operations). This directory is a standalone deployment replica (the source lives in VLA-Diff-MCP/ inside the VLA_Diff repository), registered in Trae's global MCP configuration.

Deployment mode

This deployment runs with VLADIFF_MCP_PROFILE=ops (see the env in the global mcp.json): it exposes 11 operation tools, without publish_prompt. That sensitive write operation (fabricating LLM instructions) is only provided by the MCP instance (vla-diff-prompt, profile=prompt) in the VLA_Diff workspace, so it is not exposed globally. The tool filtering logic is implemented in the _tool decorator in server.py.

Related MCP server: ROS1 Noetic MCP Server

Features

Provide stable tools to the Agent via the MCP protocol, replacing ad-hoc bash commands each time:

Phase 1: read-only tools

Tool

Description

Run location

ros_topic_status

Query ROS topic frequency + latest message

container ros_noetic_uss_nav

ros_topic_echo

Read the last n messages of a ROS topic

container

process_status

Query the status of key service processes

host

tmux_status

List tmux sessions

host

tmux_capture

Capture tmux session pane output

host

read_log

Read agent_run / scene_graph logs

container

Phase 2: write tools

Tool

Description

Safety mechanism

publish_prompt

Publish forged instructions to /agent_prompt Not exposed in this deployment (only the VLA_Diff workspace instance provides it)

—

tmux_send

Send commands to a tmux session (auto-create if it does not exist; no kill-session)

None (uses the reuse rules)

restart_service

Restart ego_planner etc. (kill first, then start; run in the background)

confirm=True explicit confirmation

exec_cmd

Fallback for arbitrary shell commands inside the container

No whitelist; use with caution

SSH remote tools

Tool

Description

Safety mechanism

ssh_exec

Run shell commands on a remote host; host can be a ~/.ssh/config alias (e.g. moon) or user\@ip (e.g. diff\@10.176.224.12)

Password is only passed via environment variable (sshpass -e), never in ps/logs

ssh_hosts

List all host aliases and connection information in \~/.ssh/config

Read-only (only reads; no writes)

Authentication strategy: by default uses ~/.ssh keys (BatchMode; fails immediately with an error instead of hanging). When a password path is provided, code uses password when the source uses password argument when provided. TCP connections to the same host are reused within 10 minutes (ControlMaster), so consecutive commands skip repeated authentication.

Environment Setup

# 创建虚拟环境并按 uv.lock 安装依赖（标准 .venv，已被 .gitignore 忽略）
uv sync

Running

.venv/bin/python server.py

Default stdio transport; the MCP client (Trae global config ~/.config/Trae CN/User/mcp.json) lifts it as a subprocess.

Prerequisites

  • The Docker container ros_noetic_uss_nav has been created (depended on by ROS-type tools).

  • If it is not running, ROS-type tools return a clear error, while tmux / process tools are not affected.

Extension Directions

  • More restartable services: elastic-tracker, tracking_service, etc. (add as needed to KNOWN_RESTART).

  • Service configuration: update the start commands to a YAML file to avoid hard-coding them in code.

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