nav2_mcp_server

概述

Nav2 MCP服务器为ROS 2生态系统中的机器人导航和控制提供了全面的工具。它支持精确移动、实时监控和代价地图管理。该服务器支持stdio和HTTP传输模式，使其适用于不同的集成场景。它提供了导航到特定姿态、航点跟随、路径规划和生命周期管理的工具，能够完全控制Nav2启动机器人。

试试问 AI

装完之后，这里有 5 个你可以让 AI 做的事：

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

  Navigate the robot to a specific pose in the map frame

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

  Navigate the robot through a sequence of waypoints in order

  试试:Follow waypoints [[1,2,0], [3,4,0], [5,6,0]]试试: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

  试试:Spin robot 90 degrees clockwise试试:Rotate robot by 1.57 radians
• backup_robotdistance: float, speed: float

  Move the robot backward by a specified distance

  试试:Backup robot 1 meter at 0.2 m/s试试: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

  试试:Dock robot at charging station A试试: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

  试试:Undock robot from charging station试试:Release robot from dock
• clear_costmapscostmap_type: str

  Clear robot navigation costmaps to remove stale obstacle data

  试试:Clear global costmap试试:Remove obstacles from local costmap
• get_robot_pose

  Get the current position and orientation of the robot

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

  Cancel the currently active navigation task

  试试:Stop current navigation试试:Cancel all robot movements
• nav2_lifecycleaction: str

  Control Nav2 lifecycle (startup or shutdown)

  试试:Start Nav2 system试试: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

  试试:Show path from (0,0) to (5,5)试试: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

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

可对比工具

安装

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

什么是Nav2？

Nav2是机器人操作系统(ROS)导航软件的第二代，提供了一套全面的工具，用于机器人在各种环境中的导航。

如何将其与我的机器人集成？

MCP服务器需要连接到运行中的ROS 2系统并启用Nav2。在启动MCP服务器之前，请确保您的机器人ROS 2环境已正确设置并运行。

nav2_mcp_server 对比