ros-mcp-server

# 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 `rosbridge` node 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](https://modelcontextprotocol.io/), 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](https://youtu.be/EhZNFULz9P4)) - 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](https://www.traceglarue.com/wilson)) 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](https://www.youtube.com/watch?v=9StFx4lnvmc)) 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](docs/install/installation.md) 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](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](docs/contributing.md) and see issues tagged **good first issue** to get started. --- ## License This project is licensed under the [Apache License 2.0](LICENSE).