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MCP server for ROS robots
ROS MCP Server sits between an MCP client and a ROS or ROS2 robot. It gives the agent a way to discover topics, services, actions, parameters, and sensor data, then send commands back to the robot.
1,446 stars•209 forks•Python•Updated 7d ago
ROS MCP can connect any AI agent to any ROS enabled Robot
Contoro • 73 views • 3 months ago
Videos about this repo
Who it's for
Builders who want their agent to talk to a robot through ROS or ROS2.
What it delivers
You can control and inspect a robot from an MCP-capable agent without changing the robot’s source code.
What it does
Two-way robot communication
The server lets an agent both send commands to the robot and read what the robot is doing.
ROS topic, service, action, and parameter access
It can publish and subscribe to topics, call services and actions, set parameters, and read sensor and state data.
ROS type discovery
It helps the agent discover available ROS topics, services, actions, and custom message types so it can use the right syntax.
MCP client compatibility
It works with Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT, Cursor, and other MCP clients.
ROS 1 and ROS 2 support
The server is built to work across ROS 1 distros and ROS 2 releases such as Humble and Jazzy.
README
ROS MCP Server 🧠⇄🤖
ROS-MCP-Server connects large language models (such as Claude, GPT, and Gemini) to robots, enabling bidirectional communication with no changes to existing robot source code.
Why ROS-MCP?
- No robot source code changes → just add the
rosbridgenode to your existing ROS setup. - True two-way communication → LLMs can both control robots and observe everything happening on the Robot.
- Full context → publish & subscribe to topics, call services & actions, set parameters, read sensor data, and monitor robot state in real time.
- Deep ROS understanding → guides the LLM to discover available topics, services, actions, and their types (including custom ones) — enabling it to use them with the right syntax without manual configuration.
- Works with any MCP client → built on the open MCP standard, supporting Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT, Cursor, and more.
- Works across ROS versions → compatible across ROS 2 (Jazzy, Humble, and others) and ROS 1 distros.
🎥 Examples in Action
🏭 Example - AI Agent diagnosis of Industrial Robot End Effector (Video)
- The MCP server connects Claude to a production industrial robot, with only the technician manuals as reference.
- Claude discovers the robot's custom topic and service types and their syntax on its own.
- From a single prompt to test the gripper, it reads the manuals, runs its own tests, finds an anomaly, and reports the root cause.
🤖 Example - Controlling "Wilson" with natural language (video)
From a single prompt — "Grab a Coke from the fridge & go to the living room." — Google Gemini uses the MCP server to navigate and manipulate autonomously. Built on ROS 2 with Nav2 (SLAM) for mapping and navigation, and MoveIt to command the manipulator.
🐕 Example - Controlling Unitree Go2 in NVIDIA Isaac Sim (video)
The MCP server connects Claude to a simulated Unitree Go2 quadruped in NVIDIA Isaac Sim, interpreting natural language commands to navigate and control the robot.
🛠 Getting Started
Follow the installation guide to get started.
ROS-MCP works with Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT, Cursor, or any MCP-compatible client.
📚 More Examples & Tutorials
Browse our examples to see the server in action.
We welcome community PRs with new examples and integrations!
🤝 Contributing
We love contributions of all kinds:
- Bug fixes and documentation updates
- New features (e.g., Action support, permissions)
- Additional examples and tutorials
Check out the contributing guidelines and see issues tagged good first issue to get started.
📜 License
This project is licensed under the Apache License 2.0.
Files in the repo
Repository payload•18 top-level entries
- .devcontainer
- .github
- config
- docs
- examples
- launch
- robot_specifications
- ros_mcp
- tests
- .gitignore
- .python-version
- LICENSE
- MANIFEST.in
- pyproject.toml
- README.md
- server.json
- server.py
- uv.lock
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