ros-mcp-server
Connect AI models like Claude & ChatGPT with ROS robots using MCP
MCP 服务配置
复制以下 JSON 到 OPClaw 或其他 MCP 客户端的配置文件中即可使用
{
"mcpServers": {
"ros-mcp": {
"args": [
"ros-mcp@3.0.1"
],
"command": "uvx"
}
}
}可用工具 （5 个）
该服务在 MCP 协议中暴露的工具，AI 可按需调用
tavily_search 14 个参数 需填 1 项
Search the web for current information on any topic. Use for news, facts, or data beyond your knowledge cutoff. Returns snippets and source URLs.
必填参数：query
tavily_extract 6 个参数 需填 1 项
Extract content from URLs. Returns raw page content in markdown or text format.
必填参数：urls
tavily_crawl 11 个参数 需填 1 项
Crawl a website starting from a URL. Extracts content from pages with configurable depth and breadth.
必填参数：url
tavily_map 8 个参数 需填 1 项
Map a website's structure. Returns a list of URLs found starting from the base URL.
必填参数：url
tavily_research 2 个参数 需填 1 项
Perform comprehensive research on a given topic or question. Use this tool when you need to gather information from multiple sources to answer a question or complete a task. Returns a detailed response based on the research findings.
必填参数：input
服务介绍
ROS MCP Server 🧠⇄🤖
<!- - mcp-name: io.github.robotmcp/ros-mcp-server - ->
ROS-MCP-Server connects large language models (such as Claude, GPT, and Gemini) with existing robots giving them bidirectional AI integration.
With no changes to existing robot source code, this enables:
- 🗣 Commanding the robot in natural language → instructions are translated into ROS/ROS2 commands.
- 👀 Giving AI full visibility → subscribe to topics, call services, read sensor data, and monitor robot state in real time.
# # ✅ Key Benefits
- No robot code changes → only requires adding the
rosbridgenode. - True two-way communication → LLMs can both control robots and observe everything happening in ROS (sensors, topics, parameters).
- ROS1 & ROS2 support → works with both versions out of the box.
- MCP-compatible → integrates with any MCP-enabled LLM (Claude Desktop, Gemini, ChatGPT, and beyond).
# 🎥 Examples in Action
🖥️ Example - Controlling the MOCA mobile manipulator in NVIDIA Isaac Sim
Commands are entered into Claude Desktop, which uses the MCP server to directly drive the simulated robot.
🐕 Example - Controlling Unitree Go with natural language (video)
The MCP server enables the Claude to interpret images from the robot's cameras, and then command the robot based on human natural language commands.
🏭 Example - Debugging an industrial robot (Video)
- Connecting to an industrial robot enables the LLM to browse all ROS topics and services to assess the robot state.
- With no predefined context, the MCP server enables the LLM to query details about custom topic and service types and their syntax (00:28).
- Using only natural language, the operator calls the custom services to test and debug the robot(01:42).
# ⚙️ Features of the ROS MCP Server
- List topics, services, and message types → explore everything available in your robot’s ROS environment.
- View type definitions (incl. custom) → understand the structure of any message.
- Publish/subscribe to topics → send commands or stream robot data in real time.
- Call services (incl. custom) → trigger robot functions directly.
- Get/set parameters → read or adjust robot settings on the fly.
- 🔜 Action support → upcoming support for ROS Actions.
- 🔜 Permission controls → manage access for safer deployments.
# 🛠 Getting Started
The MCP server is version-agnostic (ROS1 or ROS2) and works with any MCP-compatible LLM.
# # Installation
Follow the installation guide for step-by-step instructions to install, run, and troubleshoot the ROS-MCP server.
For developers, we also have instructions for installation from source.
If you prefer not to use desktop LLM apps (such as Claude, ChatGPT, or Gemini), you can use the robot-mcp-client to run and interact with the MCP server directly from the terminal.
# 📚 More Examples & Tutorials
Browse our examples to see the server in action.
We welcome community PRs with new examples and integrations!
# 🤝 Contributing
We love contributions of all kinds:
- Bug fixes and documentation updates
- New features (e.g., Action support, permissions)
- Additional examples and tutorials
Check out the contributing guidelines and see issues tagged good first issue to get started.
# 📜 License
This project is licensed under the Apache License 2.0.
