mcp-registry/ros-mcp-server


    ==================
      
       /// MCP ///
      /// ROS ///
        
    ==================
        
    [server:online]
    [protocol:ready]

ros-mcp-server

by lpigeon

ROS/ROS2 Model-Context-Protocol (MCP) server that converts natural-language commands from an LLM into ROS/ROS2 messages via rosbridge WebSocket.

148

Open Source

Installation

1. Prerequisites:

• ROS 1 (Noetic) or ROS 2 (Humble/Foxy) installed and sourced in your shell.

• Python ≥3.8

• pip ≥22

• (Optional) An LLM key (e.g. OPENAI_API_KEY) exported in your environment if you intend to use cloud-hosted models.

2. Clone the server:

git clone https://github.com/lpigeon/ros-mcp-server.git
cd ros-mcp-server

3. Install Python dependencies:

python -m venv .venv
source .venv/bin/activate
pip install -r requirements.txt

4. Build ROS/ROS2 message packages (if the repo contains custom msgs):

colcon build   # (ROS2)
or
catkin_make    # (ROS1)
source install/setup.bash  # or devel/setup.bash for ROS1

5. Configure the server (edit config.yaml):

• Set the ROS_MASTER_URI / ROS_DOMAIN_ID as needed.

• Configure the LLM provider section with your API key and model name.

6. Run the MCP server:

python -m ros_mcp_server
# or, if provided, use the launch file
ros2 launch ros_mcp_server mcp_server.launch.py

7. Test:

curl -X POST http://localhost:8000/command -d '{"text": "Move to kitchen"}'
# Robot should receive the translated ROS/ROS2 command.

License: MIT License

Updated 7/30/2025