ros-mcp-server

## Overview   [](https://smithery.ai/server/@lpigeon/ros-mcp-server)  <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. Research based on this project can be found in the video linked below. - [An Efficient Robot Control Framework Using the Model Context Protocol](https://www.youtube.com/watch?v=7ut4eqTxwHA) ## Supported Types - geometry_msgs/Twist - sensor_msgs/Image - sensor_msgs/JointState ## Features - **WebSocket-based universal compatibility**: Communicates with both ROS and ROS2 systems using rosbridge, enabling seamless integration regardless of ROS version. - **Cross-platform support**: Works on Linux, Windows, and MacOS, making it suitable for diverse development and deployment environments. - **Easy integration with LLMs and AI systems**: Natural language commands can be directly translated into robot actions via MCP functions. - **Extensible function set**: Easily add new robot control or sensor functions by extending the MCP tool interface. - **No ROS node modification required**: Interacts with existing ROS/ROS2 topics and services without changing your robot's core code. - **Native ROS/ROS2 command compatibility**: Optionally supports using local ROS/ROS2 libraries, so you can run native ROS commands and tools alongside WebSocket-based control. ## Contributing Contributions are welcome! Whether you're fixing a typo, adding a new function, or suggesting improvements, your help is appreciated. Please follow the [contributing guidelines](CONTRIBUTING.md) for more details on how to contribute to this project. ## Installation ### Installing via Smithery To install ``ros-mcp-server`` for Claude Desktop automatically via [Smithery](https://smithery.ai/server/@lpigeon/ros-mcp-server): ```bash npx -y @smithery/cli install @lpigeon/ros-mcp-server --client claude ``` ### Installing Locally ### `uv` Installation - To install `uv`, you can use the following command: ```bash curl -LsSf https://astral.sh/uv/install.sh | sh ``` or ```bash pip install uv ``` - Create virtual environment and activate it (Optional) ```bash uv venv source .venv/bin/activate ``` ### MCP Server Configuration Set MCP setting to mcp.json. ```bash { "mcpServers": { "ros-mcp-server": { "command": "uv", "args": [ "--directory", "/ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-mcp-server",, "run", "server.py" ] } } } ``` If you use Claude Desktop, you can find mcp.json using the following command: - MacOS ```bash code ~/Library/Application\ Support/Claude/claude_desktop_config.json ``` - Linux(Ubuntu) You can install Claude Desktop to use [claude-desktop-debian](https://github.com/aaddrick/claude-desktop-debian). ```bash code ~/.config/Claude/claude_desktop_config.json ``` - Windows ```bash code $env:AppData\Claude\claude_desktop_config.json ``` ## MCP Functions You can find the list of functions in the [MCPFUNCTIONS.md](MCPFUNCTIONS.md). ## 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 ```bash roslaunch rosbridge_server rosbridge_websocket.launch ``` ROS 2 ```bash 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>