MCP Server Ros 2

🚀 WiseVision ROS2 MCP Server

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

🚀 Quick Start

Set MCP Configuration to mcp.json

"mcp_server_ros_2": {
    "command": "docker",
    "args": [
        "run",
        "-i",
        "--rm",
        "wisevision/mcp_server_ros_2"
    ],
}

Build the Docker Image Locally

git clone https://github.com/wise-vision/mcp_server_ros_2.git
cd mcp_server_ros_2
docker build -t wisevision/mcp_server_ros_2 .

Add the following content to the AI agent prompt:

You are an AI assistant using external tools via the MCP server.
Always check your memory to see if you know the current list of available tools before calling any tool.
    • If you don't remember the current tool list, call the list-tools tool first.
    • Never guess tool names or parameters.
    • If the user's request requires using a tool and you don't have relevant information, ask them or call list-tools first.
Once the tool list is loaded, you can directly use tools with documented names and architectures.

✨ Features

• List available topics
• List available services
• Call services
• Retrieve messages from the WiseVision Data Black Box (a ROS2 alternative to InfluxDB)
• Subscribe to topics to receive messages
• Publish messages on topics
• Echo messages on topics
• Get fields of message types

⚠️ Important Note

Start the server before calling services that use custom service sources.

💻 Usage Examples

Basic Usage

The usage examples are mainly reflected in the API calls. For example, to list available topics, you can call the ros2_topic_list API.

📚 Documentation

API

Tools

• ros2_topic_list

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

• ros2_service_list

  • Returns a list of available services
  • Output:
    • service_name (string): Service name
    • service_type (string): Service type
    • request_fields (array of strings): Fields in the service request

• ros2_service_call

  • Calls a ROS2 service
  • Input:
    • service_name (string): Service name
    • service_type (string): Service type
    • fields (array of strings): Field data in the service request provided by the user
    • force_call (boolean): Force to call the service without providing all fields, default is false
  • Output:
    • result (string): Result of the service call
    • error (string): Error information returned when the call fails
  • Feature:
    • Checks if all required fields are provided

• ros2_subscription_list

  • Returns a list of currently subscribed topics
  • Output:
    • subscriptions (list): List of currently subscribed topics

• ros2_subscription_stream

  • Returns a message stream (real-time data) for a specific topic
  • Input:
    • topic_name (string): Name of the topic to subscribe to
  • Output:
    • messages (stream): Real-time messages received on the specific topic

• ros2_publish

  • Publishes a message on a specified topic
  • Input:
    • topic_name (string): Name of the topic to publish to
    • message_value (string): Content of the message to publish
  • Output:
    • acknowledgment (string): Confirmation message indicating that the message has been successfully published

• ros2_topic_info

  • Returns detailed information about a specified topic
  • Input:
    • topic_name (string): Name of the topic to query
  • Output:
    • topic_information (dictionary): Detailed information about the topic, including its type and other attributes

• ros2_service_info

  • Returns detailed information about a specified service
  • Input:
    • service_name (string): Name of the service to query
  • Output:
    • service_information (dictionary): Detailed information about the service, including its interface and service class