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Scored across 16 tools
Tool purposes are clearly separated by resource and backend: ROS 2 graph tools, DDS-layer tools, and bag-analysis tools each have distinct scopes. The main near-overlaps (peek_* and sample_* tools) are explicitly differentiated by live ROS 2, live DDS, or offline bag source, and the descriptions consistently point to the correct alternative.
All tool names use snake_case and are readable, but the set mixes verb-first names such as get_topic_info, list_topics, and analyze_bag with noun-phrase names such as health_check, graph_diff, participant_events, and topic_metrics. This is a minor inconsistency rather than a readability problem.
The 16 tools are slightly above the typical 3-15 range, but the breadth is justified by the server covering ROS 2 graph inspection, DDS discovery/QoS, bag analysis, TF diagnostics, health, and graph diffing. Each tool maps to a recognizable diagnostic job and the set does not feel bloated.
Core observability lifecycle coverage is strong: graph and endpoint discovery, live and offline sampling, bag summaries, QoS mismatch analysis, TF inspection, metrics, participant events, and health. Minor gaps remain around global service/action discovery, which is only exposed through get_node_info, and richer bag comparison, but there are no obvious dead ends for topic-level debugging.