kakimochi_ros2-mcp-server

kakimochi_ros2-mcp-server

0
ai_chatbotos_automation

ros2-mcp-server is a Python-based server for integrating MCP with ROS 2 to enable AI-based control of robots. It uses FastMCP to process commands asynchronously and is designed to run as a ROS 2 node, allowing for time-based control of robot movements. The project requires ROS 2 Humble and Python 3.10 for operation.

ros2-mcp-server

ros2-mcp-server is a Python-based server integrating the Model Context Protocol (MCP) with ROS 2 for AI-assisted robot control. It publishes messages to the /cmd_vel topic for movement commands.

Features

  • MCP Integration using FastMCP
  • Operates as a ROS 2 node
  • Time-Based Control for movement commands
  • Asynchronous Processing with asyncio

Prerequisites

  • ROS 2 Humble
  • Python 3.10
  • Dependencies: rclpy, fastmcp, numpy

Installation

  1. Clone the repository.
  2. Ensure Python version is 3.10.
  3. Create and activate a virtual environment using uv.
  4. Install dependencies.

MCP Server Configuration

Set up as an MCP server for clients like Claude and Cline.

Usage

  • Send commands via Claude to control robot movement.
  • Direct tool usage for command specifications.

Testing

Use simulators like Gazebo or a real robot subscribing to /cmd_vel.

Troubleshooting

  • Set ROS_LOG_DIR for logging errors.
  • Ensure Python 3.10 compatibility.

Limitations

  • Supports only /cmd_vel and basic commands. Extensions needed for additional topics.