ROS MCP Server

Overview

The ROS MCP Server is designed to facilitate the control of robotic movement by providing a set of functions that allow for precise manipulation of linear and angular velocities. This enables the robot to perform complex maneuvers and navigate through various environments efficiently.

Installation

uv Installation

• To install uv, you can use the following command:

curl -LsSf https://astral.sh/uv/install.sh | sh

or

pip install uv

• Create virtual environment and activate it

uv venv
source .venv/bin/activate

MCP Server Configuration

Set MCP setting to mcp.json.

"ros-mcp-server": {
  "command": "uv",
  "args": [
    "--directory",
    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-mcp-server",,
    "run",
    "server.py"
  ]
}

MCP Functions

pub_twist

• Purpose: Sends movement commands to the robot by setting linear and angular velocities.
• Parameters:
  • linear: Linear velocity (List[Any])
  • angular: Angular velocity (List[Any])

pub_twist_seq

• Purpose: Sends a sequence of movement commands to the robot, allowing for multi-step motion control.
• Parameters:
  • linear: List of linear velocities (List[Any])
  • angular: List of angular velocities (List[Any])
  • duration: List of durations for each step (List[Any])

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

roslaunch rosbridge_server rosbridge_websocket.launch

ROS 2

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.".

5. Check rosbridge_server and ros topic.

• rosbridge_server

• ros topic

Simulation Test

MCP-based control using the MOCA mobile manipulator within the NVIDIA Isaac Sim simulation environment.