ROS MCP

01 · What it does

• List, monitor and publish to ROS 2 topics
• List and inspect running nodes
• Call services and send action goals
• Launch Gazebo or rqt_graph through a local socket server
• Check the ROS 2 environment and clean up processes

02 · Install

$ git clone git@github.com:Yutarop/ros-mcp.git
$ cd ros-mcp
$ pip install "websockets>=15.0.1"
$ uv venv
$ source .venv/bin/activate
$ uv pip install -e .

1. Tested only with ROS 2 Humble per README
2. Start the GUI socket server with python3 socket_server.py outside the venv
3. The MCP server and your machine must share the same ROS_DOMAIN_ID on the same network

03 · Client config (from README)

{
  "mcpServers": {
    "ros-general": {
      "command": "uv",
      "args": [
        "--directory",
        "/ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-mcp",
        "run",
        "bash",
        "-c",
        "export ROS_LOG_DIR=/tmp && export ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-YOUR_ROS_DOMAIN_ID} && source /opt/ros/humble/setup.bash && python3 /ABSOLUTE/PATH/TO/PARENT/FOLDER/ros-general.py"
      ]
    }
  }
}

Install steps taken from the project README (its recommended path first). Placeholders are the maintainer's. Not bench-tested by HardwareMCP yet.