MCP Server Ros 2

Name: MCP Server Ros 2
Author: wise-vision

作者：wise-vision版本 1.0.0i★ –i在你的电脑上运行

注册名称io.github.wise-vision/mcp_server_ros_2

安装

概览

作者提供的说明（英文原文）

View ROS 2 nodes and topics, and call services and actions via MCP

PopNx MCP 的三大支柱

这三项永远不会合并成一个分数：意见、测量和人气是不同的东西。

用户评价i暂无评价评价功能将在后续阶段与账户功能一起开放
我们的基础检查i1 项中通过 1 项依据公开信息检查；尚未扫描代码
使用情况i尚未统计★ –

它能帮你做什么

我们还没有为它写通俗的介绍。下面是我们从注册中心读取到的事实。

连接方式: 在你的电脑上运行
传输方式: stdio
分类: 其他

安装

选择你使用的 AI 应用，然后复制设置。

安装之前

基础检查：1 项中通过 1 项
在你的电脑上运行，拥有你的用户账户的权限（文件、网络、应用）。
需要你自己填写： MCP_CUSTOM_PROMPTS, MCP_PROMPTS_LOCAL, MCP_PROMPTS_PATH, MCP_PROMPTS_MODULE

你需要

Docker已安装 Docker

你用的是哪个应用？

ClaudeClaude CodeCursorVS CodeChatGPT

在上方选择你的应用。我们会记住它，下次按钮会显示“安装到 …”。

打开 Claude Desktop → Settings → Developer → Edit Config，把下面的内容粘贴到 claude_desktop_config.json

{
  "mcpServers": {
    "ros-2": {
      "command": "docker",
      "args": [
        "run",
        "-i",
        "--rm",
        "-e",
        "MCP_CUSTOM_PROMPTS",
        "-e",
        "MCP_PROMPTS_LOCAL",
        "-e",
        "MCP_PROMPTS_PATH",
        "-e",
        "MCP_PROMPTS_MODULE",
        "docker.io/mcp/ros2:latest"
      ],
      "env": {
        "MCP_CUSTOM_PROMPTS": "your-value",
        "MCP_PROMPTS_LOCAL": "your-value",
        "MCP_PROMPTS_PATH": "your-value",
        "MCP_PROMPTS_MODULE": "your-value"
      }
    }
  }
}

在终端中运行这条命令

claude mcp add ros-2 --env MCP_CUSTOM_PROMPTS=your-value --env MCP_PROMPTS_LOCAL=your-value --env MCP_PROMPTS_PATH=your-value --env MCP_PROMPTS_MODULE=your-value -- docker run -i --rm -e MCP_CUSTOM_PROMPTS -e MCP_PROMPTS_LOCAL -e MCP_PROMPTS_PATH -e MCP_PROMPTS_MODULE docker.io/mcp/ros2:latest

运行前请先填写空着的值。

在 Cursor 中打开

或者自己复制设置

粘贴到项目中的 .cursor/mcp.json，或 ~/.cursor/mcp.json

{
  "mcpServers": {
    "ros-2": {
      "command": "docker",
      "args": [
        "run",
        "-i",
        "--rm",
        "-e",
        "MCP_CUSTOM_PROMPTS",
        "-e",
        "MCP_PROMPTS_LOCAL",
        "-e",
        "MCP_PROMPTS_PATH",
        "-e",
        "MCP_PROMPTS_MODULE",
        "docker.io/mcp/ros2:latest"
      ],
      "env": {
        "MCP_CUSTOM_PROMPTS": "your-value",
        "MCP_PROMPTS_LOCAL": "your-value",
        "MCP_PROMPTS_PATH": "your-value",
        "MCP_PROMPTS_MODULE": "your-value"
      }
    }
  }
}

浏览器会先询问是否打开应用，然后应用会显示设置并请你确认。密钥的值会留空，由你自己填写。

在 VS Code 中打开

或者自己复制设置

粘贴到项目中的 .vscode/mcp.json

{
  "servers": {
    "ros-2": {
      "type": "stdio",
      "command": "docker",
      "args": [
        "run",
        "-i",
        "--rm",
        "-e",
        "MCP_CUSTOM_PROMPTS",
        "-e",
        "MCP_PROMPTS_LOCAL",
        "-e",
        "MCP_PROMPTS_PATH",
        "-e",
        "MCP_PROMPTS_MODULE",
        "docker.io/mcp/ros2:latest"
      ],
      "env": {
        "MCP_CUSTOM_PROMPTS": "your-value",
        "MCP_PROMPTS_LOCAL": "your-value",
        "MCP_PROMPTS_PATH": "your-value",
        "MCP_PROMPTS_MODULE": "your-value"
      }
    }
  }
}

浏览器会先询问是否打开应用，然后应用会显示设置并请你确认。密钥的值会留空，由你自己填写。

这个服务器在你的电脑上运行，而 ChatGPT 只能连接互联网上的服务器。请选择其他应用。

你的选择通过 Cookie 保存在这台设备上，无需账户。

需要你填写的值

MCP_CUSTOM_PROMPTS env
Enable custom prompts
MCP_PROMPTS_LOCAL env
Use local prompts
MCP_PROMPTS_PATH env
Path to custom prompts directory
MCP_PROMPTS_MODULE env
Name of the prompts module

这些设置是根据作者在注册中心的条目生成的。如果 README 的写法不同，请以 README 为准。

它能做什么

它在你的电脑上运行；安装后，工具列表会显示在你的 AI 应用中。

基础检查i

我们检查的是任何人都能看到的信息；我们没有阅读代码。不适用的检查项不计入总数。 · 检查于 2026年11月7日

✓ 通过
作者与仓库一致
注册名称已通过 GitHub 账户 wise-vision 验证，该账户拥有此仓库
… 尚未检查
仍在维护
我们还没有从 GitHub 读取这个仓库
… 尚未检查
有许可证
我们还没有从 GitHub 读取这个仓库
– 不适用
端点有响应
它在你的电脑上运行，没有互联网端点
– 不适用
使用 OAuth 登录
在你的电脑上运行，改用本地设置
… 尚未检查
工具描述中没有隐藏指令
它在你的电脑上运行；我们只能读取互联网端点的工具列表

与“其他”中的其他服务器比较i

星标数多于此分类中其他 32715 个服务器的 0%
发布到注册中心的时间比此分类中其他 32715 个服务器的 1% 更新
基础检查结果等于或优于此分类中其他 32715 个服务器的 100%

与注册中心里这个分类中所有活跃的服务器比较。只有当发布者拥有该仓库时，星标数才计入。

常见问题

MCP Server Ros 2 安全吗？

它在 1 项适用的基础检查中通过了 1 项。我们没有阅读代码。在添加密钥或令牌之前，请先看看这个服务器要求哪些权限，并使用只具备所需权限的密钥。

它需要哪些密钥或代码？

注册中心没有列出必需的密钥，不过有些服务器会在首次使用时要求你登录。

它在我的电脑上运行还是在云端？

它在你的电脑上运行。你的 AI 应用会在需要时启动它，数据不会经过作者的服务器（除非它自己调用在线服务）。

它还在维护吗？

GitHub 仓库最后更新于–，最新版本（1.0.0）于12个月前进入注册中心。

哪些应用可以使用它？

支持 MCP 的应用，例如 Claude Desktop、Claude Code、Cursor 和 VS Code。你的电脑上还需要有 Docker。

有什么可以替代它？

同一分类中有：Spec Driven Development, Remote Desktop Commander, First Sale Scout

替代选择

同一分类中其他作者的服务器，按星标数排序。

如何看卡片：★ GitHub 星标i三大支柱：评价 · 检查 · 使用情况i更新 = 最新版本发布到注册中心的时间i

Spec Driven Development

作者：formulahendry

MCP Server that facilitates spec-driven development workflows, not just Vibe Coding.

在你的电脑上运行★ 440MIT14个月前更新

安装

Remote Desktop Commander

作者：desktop-commander

Remote Desktop Commander: use files, terminal and processes on your own computers from any AI app.

在云端运行★ 211前天更新

安装

First Sale Scout

作者：firstsale.pro

Playbooks and a 14-day checklist for founders winning their first paying customers.

在云端运行今天更新

安装

作者的 README

打开 README

按原文从作者的仓库复制。PopNx MCP 没有审查或背书其内容。HTML、图片和脚本已被移除。链接会离开本站。

ROS2 MCP

ROS2 MCP is an open-source (MPL-2.0) Model Context Protocol server that lets AI agents (Claude, Cursor, Codex and any other MCP client) list, subscribe to, publish on and call ROS 2 topics, services and actions on a live robot. It talks to ROS 2 directly through rclpy: no rosbridge, no changes to your robots. Transports: stdio (default), Streamable HTTP and SSE (deprecated by the MCP spec).

Every tool is free and open source. Commercial support is available if you want help putting it on a real machine.

⚡ Quickstart (30 seconds, Docker)

You need Docker and an MCP client. ROS 2 itself does not have to be installed: the image contains it.

# Claude Code (use :humble for a ROS 2 Humble system). Read-only: the agent can look, not act.

claude mcp add ros2 -- docker run -i --rm -e ROS2_MCP_READONLY=1 wisevision/ros2_mcp:jazzy

Any other MCP client: run docker run -i --rm -e ROS2_MCP_READONLY=1 wisevision/ros2_mcp:jazzy as its stdio command. Then ask: *"List the ROS 2 topics"* and *"Read three messages from /chatter"*.

No robot at hand? Start a demo publisher first:

docker run -d --name demo-robot ros:jazzy-ros-base bash -c \

'source /opt/ros/jazzy/setup.bash && ros2 topic pub -r 2 /chatter std_msgs/msg/String "{data: hello from the robot}"'

Prefer uv? On a machine with ROS 2 installed and sourced (the server needs rclpy; use the Python that matches your distro, e.g. 3.12 on Jazzy):

source /opt/ros/jazzy/setup.bash

uvx --python /usr/bin/python3 --from git+https://github.com/wise-vision/ros2_mcp mcp_ros_2_server

Remove -e ROS2_MCP_READONLY=1 (or the --read-only flag) only when you want the agent to be able to move things; see Security. Client-specific setup (VS Code Copilot, Claude Desktop, Warp, Codex CLI, custom messages): installation guide. Docs: wisevision.tech/docs.

mcp/ros2 in Docker's official MCP catalog (13,750 pulls at the time of writing) is built by Docker and lags our releases: it was last updated on 2026-02-04 and predates read-only mode. wisevision/ros2_mcp is built and pushed by this repository's CI and is the one the commands above use.

🧰 Tools

24 tools. ⚠ marks tools that can change robot state; read-only mode removes them. The complete, generated reference with input schemas is docs/generated/tools.md (a CI check keeps it in sync with the code).

Area	Tools
Discover	`ros2_topic_list`, `ros2_service_list`, `ros2_list_actions`, `ros2_interface_list`, `ros2_get_message_fields` (field names and types of a message type)
Topics	`ros2_topic_subscribe`, `ros2_subscribe_multiple_topics` (images come back as PNG), ⚠ `ros2_topic_publish`, ⚠ `ros2_publish_multiple_topics` (set frequency and duration)
Services	⚠ `ros2_service_call`
Actions	⚠ `ros2_send_action_goal` (optionally waits for the result), `ros2_action_request_result`, `ros2_action_subscribe_feedback`, `ros2_action_subscribe_status`, ⚠ `ros2_cancel_action_goal`
Perception	`ros2_get_map_as_image` (`nav_msgs/OccupancyGrid` to PNG), `ros2_get_pointcloud_as_bev` (`sensor_msgs/PointCloud2` to bird's-eye-view PNG)
History	`ros2_get_messages_stored_in_influx_data_base` (past messages from the WiseVision Data Black Box, an InfluxDB-based alternative to Rosbag2)
Viewer app	`ros2_viewer_app`, `ros2_viewer_config`, `ros2_stream_start`, `ros2_stream_next`, `ros2_stream_next_image`, `ros2_stream_stop` (interactive image / point cloud / plot viewer for MCP clients that support Apps; the stream tools also serve clients that cannot render it)

Also included: four built-in prompts, automatic QoS selection for topics, nested message fields, and custom message types (source your package before starting; see the installation guide).

🧭 Supported ROS 2 distributions

Distro	Status
Jazzy Jalisco (Ubuntu 24.04, Python 3.12)	Supported. Tests run in CI on `ros:jazzy-ros-base`; Docker image `wisevision/ros2_mcp:jazzy`.
Humble Hawksbill (Ubuntu 22.04, Python 3.10)	Supported. Tests run in CI on `ros:humble-ros-base`; Docker image `wisevision/ros2_mcp:humble`.
Iron, Kilted, Rolling	Not tested and not shipped. It may work from source; we make no promise. Open an issue if you need one.

ROS 1 is not supported (the server uses rclpy). Python 3.10 or newer.

🆚 How it compares

Other open-source ROS MCP servers exist. They make different trade-offs; pick by what you need. Facts below were read from each project's README, pyproject.toml and GitHub page on 2026-10-14.

	ROS2 MCP (this repo)	robotmcp/ros-mcp-server	LCAS/ros2_mcp
How it reaches ROS	`rclpy`, directly on the ROS 2 graph (runs where ROS 2 is sourced, or in the Docker image)	`rosbridge` WebSocket; the MCP server can run on a different machine from the robot	ROS 2 package built in your colcon workspace
ROS versions	ROS 2 Humble, Jazzy	ROS 1 and ROS 2	ROS 2 Humble, Iron, Jazzy (per its README)
Install	Docker image `wisevision/ros2_mcp`, or `uvx`/`uv` from git	`uvx ros-mcp` (on PyPI)	`git clone`, `rosdep`, `colcon build`; Docker Compose with an SSE endpoint
Transports	stdio, Streamable HTTP, SSE	stdio, `http`, `streamable-http` (`--transport`)	SSE endpoint documented
Read-only mode	Yes: mutating tools are not registered, and a test enforces the classification	No such switch found in its code; tools carry the MCP `readOnlyHint` annotation	Its README lists observation features only
Publish / services / actions	Yes, including goal, result, feedback, status and cancel	Yes (topics, services and actions tools)	Not listed in its README
Nodes and parameters	No dedicated tools yet	Yes (node and parameter tools)	Node listing
Images and maps	Image topics as PNG, occupancy-grid map, point-cloud bird's-eye view	Image tool	Image retrieval for VLM analysis
License	MPL-2.0	Apache-2.0	Apache-2.0
GitHub stars	90	1,493	9

When to pick another one: you need ROS 1, node or parameter tools, or you want the MCP server off the robot with only rosbridge exposed there: use robotmcp/ros-mcp-server. We do not claim to be better on every axis. What we offer: native rclpy access (no bridge process between the agent and DDS), a read-only mode that fails closed (a tool is registered in that mode only if it was explicitly reviewed as read-only, and a test fails when a new tool is unclassified), images, maps and point clouds returned as PNGs, the complete action lifecycle (goal, result, feedback, status, cancel), and commercial support if you need it. Something here is wrong or out of date? Open an issue and we will fix it.

🗺️ Roadmap (proposed, not committed)

What users ask for that is not in ROS2 MCP today. No dates; open an issue or a Discussion to vote or to pay for one.

Parameter tools: get / set / list node parameters.
TF tools: transform lookup and frame tree.
Authentication for Streamable HTTP (bearer token or a documented reverse-proxy recipe). The transport itself is in #55; until auth exists, keep it on loopback or a private network.
Node tools (list nodes, node info), Nav2-specific helpers, a PyPI package, ROS 1 (not planned).

🤖 For AI agents

If you are an agent (or building one) using this server:

Discover before you act. Call ros2_topic_list, ros2_service_list, ros2_list_actions and ros2_interface_list, then ros2_get_message_fields for the exact message type, before any publish, service call or action goal. Do not guess field names.
Prefer read-only. If ros2_topic_publish, ros2_service_call, ros2_send_action_goal are absent from list_tools, the operator started the server in read-only mode; do not try to work around it.
Mutating tools move real machines. Confirm intent with the human before calling a ⚠ tool, start with small values and a short duration, and keep ros2_cancel_action_goal in mind.
Right after container start the graph may be incomplete (DDS discovery). If a topic you expect is missing, retry once before concluding it does not exist; see DDS discovery warm-up.
Machine-readable references: docs/generated/tools.json (every tool and its input schema), server.json (MCP registry manifest), AGENTS.md (repo layout, how to build, test and add a tool), wisevision.tech/llms.txt.

🏢 Commercial support & integration

ROS2 MCP is free software under the MPL-2.0: you can use it in a commercial product without asking us. Nothing in this section changes that.

If you are putting it on a real robot or fleet and want more than the public issue tracker, WiseVision (the maintainers) can help with:

Integration support: getting the server running against your stack, your message types and your QoS constraints.
Custom tools and prompts: handlers for your own interfaces, beyond the built-in topic, service and action set.
Priority fixes: a defect that blocks your deployment, handled on a schedule instead of a backlog.

How to reach us: use the form at wisevision.tech/contact (choose *ROS2 MCP on a real fleet*) or write to hello@wisevision.tech. Tell us the problem first: what robot, what stack, what is blocking you. We scope and quote per project; there is no price list, so please contact us. Questions that other users could learn from belong in Discussions or issues.

Want to see it on real data first? The forklift rosbag demo replays a warehouse forklift recording and walks through three MCP calls in about ten minutes.

⚙️ Installation

Follow the installation guide for step-by-step instructions:

🧩 Install in Visual Studio Code Copilot
🤖 Install in Claude Desktop
[💻 Install in Warp](installation/README.md#confi

只显示了开头部分；其余内容请在仓库中阅读