VLA-Diff-MCP

VLA-Diff-MCP

Enables AI agents to inspect and control a robotic VLA system via MCP, offering read-only tools for ROS topics, processes, tmux, and logs, as well as write tools for publishing prompts, issuing tmux commands, restarting services, and running shell commands inside containers.

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README

VLA-Diff-MCP

VLA-Diff 项目运维工具 MCP server（一期只读 + 二期写操作）。

部署形态（工具裁剪开关）

同一份 server.py 通过环境变量 VLADIFF_MCP_PROFILE 裁剪暴露的工具集， 避免全局 / 工作区两个实例重复暴露同一工具：

形态 VLADIFF_MCP_PROFILE 暴露工具 部署位置
完整 full（默认） 全部 10 个 命令行直接调试
运维 ops 9 个（无 publish_prompt） ~/Global-MCP-Server（Trae 全局 MCP global-diff-ops）
指令 prompt 仅 publish_prompt 本目录（Trae 工作区 MCP vla-diff-prompt，见 .trae/mcp.json）

publish_prompt 属敏感写操作（伪造大模型指令触发动作分发），仅在本工作区可用。 代码修改流程：本目录为源，改完后同步 server.py 到 ~/Global-MCP-Server/。

功能

通过 MCP 协议向 Agent 提供稳定工具，替代每次临场拼 bash 命令：

一期：只读工具

工具 说明 运行位置
ros_topic_status 查询 ROS 话题频率 + 最新消息 容器 ros_noetic_uss_nav
ros_topic_echo 读取 ROS 话题最近 n 条消息 容器
process_status 查询关键服务进程状态 宿主机
tmux_status 列出 tmux 会话 宿主机
tmux_capture 抓取 tmux 会话 pane 输出 宿主机
read_log 读取 agent_run / scene_graph 日志 容器

二期：写操作工具

工具 说明 安全机制
publish_prompt 向 /agent_prompt 发布伪造指令（task_id: 0=VLA/1=TRACKING/2=其他） 无（模拟大模型消息）
tmux_send 向 tmux 会话发送命令（不存在时自动创建，不 kill-session） 无（按复用规则操作）
restart_service 重启 ego_planner 等（先杀后启，后台运行） confirm=True 显式确认
exec_cmd 容器内任意 shell 命令兜底 无白名单，谨慎使用

环境准备

# 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

运行

vla_diff_mcp_venv/bin/python server.py

默认 stdio 传输，由 MCP 客户端（opencode / Claude Code）以子进程方式拉起。

前置条件

  • Docker 容器 ros_noetic_uss_nav 已创建（ROS 相关工具依赖）
  • 未启动时，ROS 类工具会返回明确错误，tmux / 进程类工具不受影响

扩展方向

  • 更多可重启服务：elastic-tracker、tracking_service 等（按需加入 KNOWN_RESTART）
  • 服务配置化：将启动命令迁移到 YAML，避免写死在代码里

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