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zhywwyzh

VLA-Diff-MCP

by zhywwyzh
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VLA-Diff-MCP

VLA-Diff project operations MCP server (Phase 1 read-only + Phase 2 write operations).

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 latest n messages from a ROS topic

Container

process_status

Query key service process status

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 operation tools

Tool

Description

Safety mechanism

publish_prompt

Publish fake instructions to /agent_prompt (task_id: 0=VLA/1=TRACKING/2=other)

None (simulates LLM messages)

tmux_send

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

None (operates per reuse rules)

restart_service

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

confirm=True explicit confirmation

exec_cmd

Fallback for arbitrary shell commands in the container

No whitelist, use with caution

Related MCP server: WEATHGARDS

Environment preparation

# 创建虚拟环境（名称固定为 vla_diff_mcp_venv，已被 .gitignore 忽略）
uv venv vla_diff_mcp_venv

# 安装依赖（mcp SDK）
UV_PROJECT_ENVIRONMENT=vla_diff_mcp_venv uv sync

Running

vla_diff_mcp_venv/bin/python server.py

Default stdio transport, launched as a subprocess by the MCP client (opencode / Claude Code).

Prerequisites

  • Docker container ros_noetic_uss_nav already created (ROS-related tools depend on it)

  • If not started, ROS tools return clear errors; tmux / process tools are unaffected

Extension directions

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

  • Service configuration: migrate startup commands to YAML to avoid hardcoding them in code

This server cannot be installed

F
license - not found
Not graded
quality - not tested
C
maintenance

How are these scores calculated?

Maintenance

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

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