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

Installing via Smithery

To install ros_mcp_server for Claude Desktop automatically via Smithery:

npx -y @smithery/cli install @lpigeon/ros_mcp_server --client claude

Installing Locally

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 (Optional)

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.