ROS 2 Robot Control

kakimochi/ros2-mcp-server

ros2-mcp-server is a Python-based server that integrates the Model Context Protocol (MCP) with ROS 2, enabling AI assistants to control robots via ROS 2 topics. It processes commands through FastMCP and runs as a ROS 2 node, publishing geometry_msgs/Twist messages to the /cmd_vel topic to control robot movement.

View on GitHub25

Install

Client configuration

{
  "mcpServers": {
    "server": {
      "command": "uv",
      "args": [
        "--directory",
        "/path/to/ros2-mcp-server",
        "run",
        "bash",
        "-c",
        "<value>"
      ]
    }
  }
}

Environment variables

TURTLEBOT3_MODEL

GitHub stars: 25
Author: @kakimochi
Category: Home Automation & IoT, Developer Tools
License: Apache-2.0
Updated: Oct 6, 2026

About ROS 2 Robot Control

This implementation supports commands like "move forward at 0.2 m/s for 5 seconds and stop," with the /cmd_vel publisher named pub_cmd_vel.

Features

MCP Integration: Uses FastMCP to handle commands from MCP clients (e.g., Claude).
ROS 2 Native: Operates as a ROS 2 node, directly publishing to /cmd_vel.
Time-Based Control: Supports duration-based movement commands (e.g., move for a specified time and stop).
Asynchronous Processing: Combines FastMCP's asyncio with ROS 2's event loop for efficient operation.

Details on this page are taken from the project's README. Open README

Supported clients

Clients mentioned in this server's README:

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Claude Desktop

Desktop · Freemium · Proprietary

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Cline

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An AI coding assistant integrated into the IDE. Supports MCP servers for enhanced functionality.

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VS Code GitHub Copilot

Desktop · Freemium · MIT

VS Code integrates MCP with GitHub Copilot through agent mode, allowing direct interaction with MCP-provided tools in your agentic coding workflow. Configure servers in Claude Desktop, workspace, or user settings, with guided MCP installation and secure handling of secrets in input variables to avoid leaking hardcoded keys.

WindowsMacOSLinuxWeb

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