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WiseVision ROS2 MCP Server

Python server implementing Model Context Protocol (MCP) for ROS2.

What is an MCP Server?

MCP Info

Attribute	Details
Docker Image	mcp/ros2
Author	wise-vision
Repository	https://github.com/wise-vision/mcp_server_ros_2

Image Building Info

Attribute	Details
Dockerfile	https://github.com/wise-vision/mcp_server_ros_2/blob/a4d248c63980e1304c3c5a3288ee165f880e59f4/Dockerfile
Commit	a4d248c63980e1304c3c5a3288ee165f880e59f4
Docker Image built by	Docker Inc.
Docker Scout Health Score
Verify Signature	COSIGN_REPOSITORY=mcp/signatures cosign verify mcp/ros2 --key https://raw.githubusercontent.com/docker/keyring/refs/heads/main/public/mcp/latest.pub
Licence	Mozilla Public License 2.0

Available Tools (14)

Tools provided by this Server	Short Description
ros2_action_request_result	Wait for the RESULT of a ROS 2 action (GetResult) for a given goal_id.
ros2_action_subscribe_feedback	Subscribe to feedback messages of a ROS 2 action.
ros2_action_subscribe_status	Subscribe to '/<action>/_action/status' (action_msgs/msg/GoalStatusArray) and return a snapshot of status frames over a time window.
ros2_cancel_action_goal	Cancel a ROS 2 action goal via '/<action>/cancel_goal' (action_msgs/srv/CancelGoal).
ros2_get_message_fields	Returns the fields of a given ROS2 message type.
ros2_get_messages_stored_in_influx_data_base	Calls the ROS2 ‘/get_messages’ service to retrieve past messages from a topic for data which is stored in InfluxDB.
ros2_interface_list	Returns a list of available ROS 2 interfaces.
ros2_list_actions	List all available ROS 2 actions with their types and request fields.
ros2_send_action_goal	Send a goal to a ROS 2 action by name and action type using provided goal fields.
ros2_service_call	Call a ROS 2 service by name and type using provided fields.
ros2_service_list	Returns a list of available ROS 2 services and their request fields.
ros2_topic_list	Returns a list of available ROS 2 topics and their types.
ros2_topic_publish	Publish a message to a ROS 2 topic by name and message type using provided field values.
ros2_topic_subscribe	Subscribe to a ROS 2 topic by name collecting messages for a given time or count limit.

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Tools Details

Tool: ros2_action_request_result

Wait for the RESULT of a ROS 2 action (GetResult) for a given goal_id. Before every use of this tool, the agent should ensure the target action exists (e.g., by calling 'ros2_list_actions').

Parameters	Type	Description
action_name	string	Action name, e.g. '/fibonacci'
action_type	string	Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'
goal_id_hex	string	32-char UUID hex of the goal (no dashes).
timeout_sec	string optional	Seconds to wait for GetResult; null → wait indefinitely.
wait_for_service_sec	number optional	Seconds to wait for the GetResult service to appear.

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Tool: ros2_action_subscribe_feedback

Subscribe to feedback messages of a ROS 2 action. Optionally filter by goal_id_hex. Collects feedback for a fixed duration or until a maximum number of messages is received. Each message contains goal_id, feedback payload, and receive timestamp.

Parameters	Type	Description
action_name	string	Action name, e.g. '/fibonacci'
action_type	string	Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'
duration_sec	number optional	How many seconds to keep spinning and collecting feedback.
goal_id_hex	string optional	Optional 32-char UUID hex of the goal (no dashes) to filter feedbacks.
max_messages	integer optional	Maximum number of feedback messages to collect.

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Tool: ros2_action_subscribe_status

Subscribe to '/<action>/_action/status' (action_msgs/msg/GoalStatusArray) and return a snapshot of status frames over a time window. Each frame contains goal_id, accept_stamp, status_code and status text.

Parameters	Type	Description
action_name	string	Action name, e.g. '/fibonacci'
duration_sec	number optional	How many seconds to collect status frames.
max_messages	integer optional	Max number of individual statuses to collect in total.

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Tool: ros2_cancel_action_goal

Cancel a ROS 2 action goal via '/<action>/cancel_goal' (action_msgs/srv/CancelGoal). You can cancel a specific goal by goal_id_hex or cancel all matching goals using cancel_all=True. Optionally limit cancellation to goals accepted before a given stamp (sec/nanosec). Before every use of this tool, the agent should ensure the target action exists (e.g., by calling 'ros2_list_actions').

Parameters	Type	Description
action_name	string	Action name, e.g. '/fibonacci' or '/navigate_to_pose'
cancel_all	boolean optional	If true, send zero-UUID to cancel all matching goals.
goal_id_hex	string optional	32-char UUID hex of the goal (no dashes). Omit when cancel_all=True.
stamp_nanosec	integer optional	Nanoseconds part for the acceptance time filter.
stamp_sec	integer optional	Cancel goals accepted BEFORE this sec (default 0 → usually all).
wait_timeout_sec	number optional	Timeout (seconds) to wait for the service and response.

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Tool: ros2_get_message_fields

Returns the fields of a given ROS2 message type.

Parameters	Type	Description
message_type	string	Full ROS2 message type, e.g., std_msgs/msg/String…