nav2_mcp_server

Overview

The Nav2 MCP Server provides comprehensive tools for robot navigation and control within the ROS 2 ecosystem. It enables precise movements, real-time monitoring, and costmap management. The server supports both stdio and HTTP transport modes, making it flexible for different integration scenarios. With tools for navigation to specific poses, waypoint following, path planning, and lifecycle management, it offers complete control over Nav2-enabled robots.

Try asking AI

After installing, here are 5 things you can ask your AI assistant:

• navigate_to_posex: float, y: float, yaw: float

  Navigate the robot to a specific pose in the map frame

  Try:Navigate robot to position (5.2, 3.7) with heading 1.57 radiansTry:Move robot to x=10, y=5, yaw=0
• follow_waypointswaypoints: str (JSON array)

  Navigate the robot through a sequence of waypoints in order

  Try:Follow waypoints [[1,2,0], [3,4,0], [5,6,0]]Try:Navigate through these waypoints: [x=1,y=1,yaw=0, x=2,y=2,yaw=0]
• spin_robotangle: float

  Rotate the robot in place by a specified angle

  Try:Spin robot 90 degrees clockwiseTry:Rotate robot by 1.57 radians
• backup_robotdistance: float, speed: float

  Move the robot backward by a specified distance

  Try:Backup robot 1 meter at 0.2 m/sTry:Move backward 0.5 meters
• dock_robotx: float, y: float, yaw: float, dock_id: str, dock_type: str, nav_to_dock: bool

  Dock the robot to a charging station or dock

  Try:Dock robot at charging station ATry:Move to dock position x=5,y=5,yaw=0 and dock
• undock_robotdock_type: str

  Undock the robot from a charging station or dock

  Try:Undock robot from charging stationTry:Release robot from dock
• clear_costmapscostmap_type: str

  Clear robot navigation costmaps to remove stale obstacle data

  Try:Clear global costmapTry:Remove obstacles from local costmap
• get_robot_pose

  Get the current position and orientation of the robot

  Try:What is the robot's current position?Try:Show me robot pose
• cancel_navigation

  Cancel the currently active navigation task

  Try:Stop current navigationTry:Cancel all robot movements
• nav2_lifecycleaction: str

  Control Nav2 lifecycle (startup or shutdown)

  Try:Start Nav2 systemTry:Shutdown navigation stack
• get_pathstart_x: float, start_y: float, start_yaw: float, goal_x: float, goal_y: float, goal_yaw: float, planner_id: str

  Compute a navigation path between two poses

  Try:Show path from (0,0) to (5,5)Try:Find path from robot to x=10,y=10
• get_path_from_robotgoal_x: float, goal_y: float, goal_yaw: float, planner_id: str

  Compute a navigation path from the robot's current pose to a goal pose

  Try:Plan path to x=3,y=3,yaw=0Try:Show me how to get to position (5,2)

Comparable tools

Installation

git clone https://github.com/ajtudela/nav2_mcp_server.git
cd nav2_mcp_server
export ROS_DOMAIN_ID=0
uv sync

{
  "nav2 mcp server": {
    "type": "stdio",
    "command": "uv",
    "args": [
      "run",
      "--directory",
      "/path/to/nav2_mcp_server",
      "nav2-mcp-server"
    ],
    "env": {
      "ROS_DOMAIN_ID": "0",
      "ROS_LOCALHOST_ONLY": "1"
    }
  }
}

FAQ

What is Nav2?

Nav2 is the second generation of Robot Operating System (ROS) navigation software, providing a comprehensive set of tools for robot navigation in various environments.

How do I integrate this with my robot?

The MCP server needs to be connected to a running ROS 2 system with Nav2. Ensure your robot's ROS 2 environment is properly set up and running before starting the MCP server.

Compare nav2_mcp_server with