Python server implementing Model Context Protocol (MCP) for ROS2.
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- List available topics
- List available services
- Call service
- Get messages from WiseVision Data Black Box (influxDB alternative to Rosbag2)
- Subscribe topic to get messages
- Publish message on topic
- Echo message on topic
- Get fields from message type
Note: To call service with custom service source it before start server.
| Tool | Description | Inputs | Outputs |
|---|---|---|---|
ros2_topic_list |
Returns list of available topics | – |
topic_name (string): Topic name topic_type (string): Message type |
ros2_topic_subscribe |
Subscribes to a ROS 2 topic and collects messages for a duration or message limit |
topic_name (string) duration (float) message_limit (int) (defaults: first msg, 5s) |
messages count duration
|
ros2_get_messages |
Retrieves past messages from a topic (data black box) |
topic_name (string) message_type (string) number_of_msg (int) time_start (str) time_end (str) |
timestamps messages
|
ros2_get_message_fields |
Gets field names and types for a message type |
message_type (string) |
Field names + types |
ros2_topic_publish |
Publishes message to a topic |
topic_name (string) message_type (string) data (dict) |
status |
| Tool | Description | Inputs | Outputs |
|---|---|---|---|
ros2_service_list |
Returns list of available services | – |
service_name (string) service_type (string) request_fields (array) |
ros2_service_call |
Calls a ROS 2 service |
service_name (string) service_type (string) fields (array) force_call (bool, default: false) |
result (string) error (string, if any) |
[!NOTE] The server is running inside a Docker container as the root user. To communicate with other ROS components, they must also be run as root.
[!NOTE] Due to this issue, this MCP server doesn't work with Copilot in Visual Studio Code.
Docker run
Set MCP setting to mcp.json.
"mcp_server_ros_2": {
"command": "docker",
"args": [
"run",
"-i",
"--rm",
"wisevision/mcp_server_ros_2"
],
}
git clone https://github.com/wise-vision/mcp_server_ros_2.git
cd mcp_server_ros_2
docker build -t wisevision/mcp_server_ros_2 .Add this to AI Agent prompt:
You are an AI assistant that uses external tools via an MCP server.
Before calling any tool, always check your memory to see if the list of available tools is known.
• If you don’t have the current tool list in memory, your first action should be to call the list-tools tool.
• Never guess tool names or parameters.
• If a user requests something that may require a tool and you don’t have the right tool info, ask them or call list-tools first.
Once the tool list is loaded, you may call tools directly using their documented names and schemas.Since MCP servers run over stdio, debugging can be challenging. For the best debugging experience, we strongly recommend using the MCP Inspector.
You can launch the MCP Inspector via npm with this command:
npx @modelcontextprotocol/inspector uv --directory /path/to/mcp_server_ros2 run mcp_ros_2_serverUpon launching, the Inspector will display a URL that you can access in your browser to begin debugging.