ROS 2 Robot Control

🚀 ROS 2 MCP Server

This project integrates FastMCP into ROS 2. With it, you can use Claude to control ROS 2 robots.

🚀 Quick Start

The ROS 2 MCP Server is a project that integrates FastMCP into ROS 2, enabling the use of Claude to control ROS 2 robots.

✨ Features

• FastMCP Integration: Communicate with Claude using the FastMCP protocol.
• ROS 2 Support: Publish messages on the /cmd_vel topic to control the robot's movement.
• Simple Command Handling: Support basic movement commands such as forward, backward, and stop.

📦 Installation

1. Clone the repository:

   git clone https://github.com/kakimochi/ros2-mcp-server.git
   

2. Install dependencies:
   • Ensure ROS 2 is installed.
   • Run the following command in the project directory:

     pip install -r requirements.txt
     

💻 Usage Examples

Basic Usage

Configure the MCP Server

1. Modify mcp_port in ros2-mcp-server.py to your MCP port (default is 1234).
2. Start the server:

   python ros2-mcp-server.py
   

Send Commands Using Claude

• Example command:

  Please make the robot move forward at 0.2 m/s for 5 seconds.
  

Advanced Usage

The following is the implementation details of ros2-mcp-server.py, which shows how to integrate FastMCP and ROS 2 to control the robot:

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
import serial
import time

class ROS2MCPNode(Node):
    def __init__(self):
        super().__init__('ros2_mcp_server')
        self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
        self.serial_port = None
        self.configure_serial()

    def configure_serial(self):
        port = 'COM3'  # 根据实际修改
        baud_rate = 115200
        try:
            self.serial_port = serial.Serial(port, baud_rate)
        except Exception as e:
            print(f"无法连接到串口: {e}")

    def send_command(self, linear_speed=0.0, angular_speed=0.0, duration=0.0):
        twist_msg = Twist()
        twist_msg.linear.x = linear_speed
        twist_msg.angular.z = angular_speed
        self.publisher_.publish(twist_msg)
        print(f"发送命令: 线速度={linear_speed}, 角度速度={angular_speed}")
        
        if duration > 0:
            start_time = time.time()
            while rclpy.ok() and (time.time() - start_time) < duration:
                self.publisher_.publish(twist_msg)
                time.sleep(0.1)
            twist_msg.linear.x = 0.0
            twist_msg.angular.z = 0.0
            self.publisher_.publish(twist_msg)
            print("停止")

def main(args=None):
    rclpy.init(args=args)
    node = ROS2MCPNode()
    try:
        while rclpy.ok():
            # 这里可以添加从串口或其他方式接收命令的逻辑
            time.sleep(1)
    except KeyboardInterrupt:
        pass
    finally:
        rclpy.shutdown()

if __name__ == '__main__':
    main()

📚 Documentation

Dependencies

Directory Structure

ros2-mcp-server/
├── ros2-mcp-server.py  # 主服务器脚本，集成 FastMCP 和 ROS 2
├── pyproject.toml      # 项目依赖和元数据
├── .python-version     # Python 版本指定
└── README.md           # 项目说明文件

📄 License

MIT License

Copyright (c) 2025 kakimochi

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

🔧 Contribution

Contributions are welcome! Please submit issues and pull requests to the GitHub repository.