ros2_mcp

概述

ros2_mcp 是一个全面的 ROS 2 模型上下文协议 Python 实现，旨在将 AI 代理与机器人系统无缝集成。该服务器提供了与 ROS 2 节点、主题、服务和交互的多种工具，使 AI 系统能够通过自然语言界面控制机器人、分析传感器数据和调试系统。通过自动类型发现、嵌套字段支持和内置数据分析功能，它显著降低了 AI 与机器人交互的复杂性。

试试问 AI

装完之后，这里有 5 个你可以让 AI 做的事：

• ros2_topic_list

  Returns list of available topics with their names and message types

  试试:List all available topics试试:What topics are available in this ROS 2 system?
• ros2_topic_subscribe

  Subscribes to a ROS 2 topic and collects messages for a duration or message limit

  试试:Subscribe to /scan topic for 10 seconds试试:Get 50 messages from /odom topic
• ros2_get_messages

  Retrieves past messages from a topic (from data black box)

  试试:Get last 100 messages from /camera/image_raw试试:Retrieve messages from /tf between 10:00 and 10:05
• ros2_get_message_fields

  Gets field names and types for a message type

  试试:Show me the fields of sensor_msgs/LaserScan试试:What fields are in nav_msgs/Odometry?
• ros2_topic_publish

  Publishes message to a topic

  试试:Publish to /cmd_vel with linear x=0.2 and angular z=0.1试试:Send a message to /chatter with text 'Hello'
• ros2_service_list

  Returns list of available services with their names, types, and request fields

  试试:List all available services试试:What services are in this ROS 2 system?
• ros2_service_call

  Calls a ROS 2 service with specified fields

  试试:Call /spawn service with x=1.0 y=2.0试试:Get robot state from /get_robot_state service
• ros2_list_actions

  Returns list of available ROS 2 actions with their types and request fields

  试试:List all available actions试试:What actions are available in this system?
• ros2_send_action_goal

  Sends a goal to an action. Optionally waits for the result

  试试:Send move_base goal to x=3.0 y=4.0试试:Navigate to coordinate (5,5) with timeout 30s
• ros2_cancel_action_goal

  Cancels a specific goal or all goals for an action

  试试:Cancel all goals for move_base action试试:Cancel specific goal with ID 12345
• ros2_action_subscribe_feedback

  Subscribes to feedback messages for an action

  试试:Get feedback for move_base action试试:Subscribe to navigation feedback for 10 seconds
• ros2_action_subscribe_status

  Subscribes to an action's status topic and returns collected status frames

  试试:Check status of move_base action试试:Get action status updates for 5 seconds

可对比工具

安装

pip install mcp_ros2

{
  "mcpServers": {
    "ros2": {
      "command": "python",
      "args": ["-m", "mcp_ros2.server"],
      "env": {
        "ROS_DOMAIN_ID": "0"
      }
    }
  }
}

FAQ

支持哪些 ROS 2 版本？

官方支持 ROS 2 Humble 和 Jazzy。该服务器设计为可与标准 ROS 2 安装一起使用。

可以使用自定义 ROS 2 消息类型吗？

是的，在启动服务器前先定义自定义消息类型的包，它将被自动发现。

ros2_mcp 对比