ros2-mcp
ROS2 MCP server that bridges AI agents (Claude Code, OpenClaw, Cursor) to ROS2, allowing them to read topics, call services, control robots, and wrap telemetry into verifiable hash-chained proof bundles.
README
ros2-mcp
ROS2 ↔ MCP bridge: let any AI agent (Claude Code, OpenClaw, Cursor) read ROS2 topics, call services, and wrap telemetry into verifiable proof bundles.
Two modes:
- Mock mode (default) — simulated robot, zero ROS2 required. Try it now.
- ROS2 mode — real topics/services via a Python sidecar (
rclpy).
Quick start (mock, 2 minutes)
npm install
npm run build
npm start
Register with your agent:
claude mcp add ros2-mcp -- npx tsx src/index.ts
Then ask:
"List the robot topics, then tell me the current GPS position." "Move the robot forward, then wrap the telemetry into a proof bundle for task task_ros2_001."
Tools
| Tool | Purpose |
|---|---|
list_topics |
list ROS2 topics |
read_topic |
latest value of a topic |
call_service |
call a service (e.g. cmd_vel) |
robot_status |
status + GPS + telemetry in one call |
wrap_proof |
wrap telemetry into an ai2robot proof bundle draft (hash-chained) |
chain_fingerprint |
genesis hash for a task |
Real ROS2
Requires a ROS2 environment (tested pattern: ros:humble docker image):
docker run -it --rm ros:humble
apt-get install -y python3-pip && pip install rclpy # usually preinstalled
Then run the server with the sidecar:
AI2ROBOT_ROS2=1 npm start
The sidecar (python/ros2_bridge.py) subscribes to all topics generically and
exposes them over stdio JSON-lines. It is a reference implementation; bring
your own transport if you need typed QoS or specific vendors.
Why proof mode
wrap_proof emits bundles in the
ai2robot proof format
(hash-chained action log + GPS traces; Ed25519 signature added by the
executor's key). Any fleet using this bridge can become an ai2robot executor
without changing hardware — the bridge is the adapter kernel.
License
MIT
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