WiseVision ROS2 MCP Server

Python server implementing Model Context Protocol (MCP) for ROS2.

Features

• List available topics
• List available services
• Call service

Note: To call service with custom service source it before start server.

API

Tools

• ros2_topic_list

  • Retrun list of available topics
  • Output:
    • topic_name (string): Topic name
    • topic_type (string): Message topic type

• ros2_service_list

  • Retruns list available services
  • Output:
    • service_name (string): Service name
    • service_type (string): Service type
    • request_fields (string array): Fields in service

• ros2_service_call

  • Call ros2 service
  • Inputs:
    • service_name (string): Service name
    • service_type (string): Service type
    • fields (string array): Fields in service request filled with user data
    • force_call (bool): Force service call without every field in service field up, Deafult set to false
  • Output
    • result (string): Return result of the service call
    • error (string): Return error in case of error
  • Features:
    • Check if service exists
    • Check if every field in service is provide

Usage

Strat server localy with ROS2 sourced

Prerequisites

• Install uv
• Install ROS2

Clone repository

git clone https://github.com/wise-vision/mcp_server_ros_2.git

Install dependecies

uv pip install -r pyproject.toml
source .venv/bin/activate

Start server

python3 -m server.server

Server transport is SSE.

• Server is running on port: http://0.0.0.0:3333

MCP Server Configuration

Set MCP setting to mcp.json.

"mcp_server_ros_2": {
    "type": "sse",
    "url": "http://localhost:3333/sse",
    }

Add this to AI Agent prompt:

You are an AI assistant that uses external tools via an MCP server.
Before calling any tool, always check your memory to see if the list of available tools is known.
	•	If you don’t have the current tool list in memory, your first action should be to call the list-tools tool.
	•	Never guess tool names or parameters.
	•	If a user requests something that may require a tool and you don’t have the right tool info, ask them or call list-tools first.
Once the tool list is loaded, you may call tools directly using their documented names and schemas.