ROS MCP Server

Overview

<center><img src="https://github.com/lpigeon/ros-mcp-server/blob/main/img/framework.png"/></center>

The ROS MCP Server is designed to support robots in performing complex tasks and adapting effectively to various environments by providing a set of functions that transform natural language commands, entered by a user through an LLM, into ROS commands for robot control. Furthermore, by utilizing rosbridge, it is configured to operate with both ROS and ROS2 systems, and its WebSocket-based communication enables broad applicability across diverse platforms.

The currently supported message type is:

• geometry_msgs/Twist

Installation

Installing via Smithery

To install ros-mcp-server for Claude Desktop automatically via Smithery:

npx -y @smithery/cli install @lpigeon/ros-mcp-server --client claude

Installing Locally

uv Installation

• To install uv, you can use the following command:

curl -LsSf https://astral.sh/uv/install.sh | sh

or

pip install uv

• Create virtual environment and activate it (Optional)

uv venv
source .venv/bin/activate

MCP Server Configuration

Set MCP setting to mcp.json.

"ros-mcp-server": {
  "command": "uv",
  "args": [
    "--directory",
    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-mcp-server",,
    "run",
    "server.py"
  ]
}

MCP Functions

pub_twist

• Purpose: Sends movement commands to the robot by setting linear and angular velocities.
• Parameters:
  • linear: Linear velocity (List[Any])
  • angular: Angular velocity (List[Any])

pub_twist_seq

• Purpose: Sends a sequence of movement commands to the robot, allowing for multi-step motion control.
• Parameters:
  • linear: List of linear velocities (List[Any])
  • angular: List of angular velocities (List[Any])
  • duration: List of durations for each step (List[Any])

How To Use

1. Set IP and Port to connect rosbridge.

• Open server.py and change your LOCAL_IP, ROSBRIDGE_IP and ROSBRIDGE_PORT. (ROSBRIDGE_PORT's default value is 9090)

2. Run rosbridge server.

ROS 1

roslaunch rosbridge_server rosbridge_websocket.launch

ROS 2

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

3. Run any AI system that has imported ros-mcp-server.

4. Type "Make the robot move forward.".

<center><img src="https://github.com/lpigeon/ros-mcp-server/blob/main/img/how_to_use_1.png" width="500"/></center>

5. Check rosbridge_server and ros topic.

• rosbridge_server <center><img src="https://github.com/lpigeon/ros-mcp-server/blob/main/img/how_to_use_2.png" /></center>

• ros topic <center><img src="https://github.com/lpigeon/ros-mcp-server/blob/main/img/how_to_use_3.png" /></center>

Simulation Test

MCP-based control using the MOCA mobile manipulator within the NVIDIA Isaac Sim simulation environment.

<center><img src="https://github.com/lpigeon/ros-mcp-server/blob/main/img/result.gif" /></center>