WiseVision ROS2

mcp

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

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14 Tools

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Overview Tools (14)

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Use cases

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').

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.

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.

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').

Returns the fields of a given ROS2 message type.

Calls the ROS2 ‘/get_messages’ service to retrieve past messages from a topic for data which is stored in InfluxDB. Check if the /get_messages service is available before calling.

Returns a list of available ROS 2 interfaces.

List all available ROS 2 actions with their types and request fields. This tool queries the current ROS graph to discover active action servers and returns a structured description for each action.

Send a goal to a ROS 2 action by name and action type using provided goal fields. Before **every** use of this tool, the agent must call 'ros2_list_actions' and 'ros2_interface_list' to ensure the latest available actions and types are known. Optionally wait for the result with a timeout.

Call a ROS 2 service by name and type using provided fields. Will ask the user to confirm if some fields are missing unless 'force_call' is set to True. Before **every** use of this tool, the agent must call 'ros2 service list' and 'ros2 interface list' to ensure the latest interface information is available.

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About

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/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 '//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.

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.

Tool: `ros2_action_subscribe_feedback`

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.

Tool: `ros2_action_subscribe_status`

Subscribe to '//_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.

Tool: `ros2_cancel_action_goal`

Cancel a ROS 2 action goal via '//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.

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

Tool: `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. Check if the /get_messages service is available before calling.

Parameters	Type	Description
`message_type`	`string`	Full ROS2 message type used for decoding
`topic_name`	`string`	Name of the topic to retrieve messages from.
`number_of_messages`	`integer`optional	Number of messages to fetch.
`time_end`	`string`optional	ISO8601 timestamp string to filter messages before a point in time.
`time_start`	`string`optional	ISO8601 timestamp string to filter messages after a point in time.

Tool: `ros2_interface_list`

Returns a list of available ROS 2 interfaces.

Tool: `ros2_list_actions`

List all available ROS 2 actions with their types and request fields. This tool queries the current ROS graph to discover active action servers and returns a structured description for each action.

Tool: `ros2_send_action_goal`

Send a goal to a ROS 2 action by name and action type using provided goal fields. Before every use of this tool, the agent must call 'ros2_list_actions' and 'ros2_interface_list' to ensure the latest available actions and types are known. Optionally wait for the result with a timeout.

Parameters	Type	Description
`action_name`	`string`	Action name, e.g. '/fibonacci' or '/navigate_to_pose'
`action_type`	`string`	Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'
`goal_fields`	`object`	Dictionary with goal message fields (1st section of .action file)
`timeout_sec`	`number`optional	Timeout (seconds) for waiting on the result when wait_for_result=true
`wait_for_result`	`boolean`optional	If true, wait for GetResult and include final status/result

Tool: `ros2_service_call`

Call a ROS 2 service by name and type using provided fields. Will ask the user to confirm if some fields are missing unless 'force_call' is set to True. Before every use of this tool, the agent must call 'ros2 service list' and 'ros2 interface list' to ensure the latest interface information is available.

Parameters	Type	Description
`fields`	`object`	Dictionary of fields to send in the service request.
`service_name`	`string`	Name of the service to call
`service_type`	`string`	Full ROS 2 service type, before pass, check service type using tool ros2_service_list
`force_call`	`boolean`optional	Whether to call the service even if some fields are missing

Tool: `ros2_service_list`

Returns a list of available ROS 2 services and their request fields.

Tool: `ros2_topic_list`

Returns a list of available ROS 2 topics and their types.

Tool: `ros2_topic_publish`

Publish a message to a ROS 2 topic by name and message type using provided field values. Supports single publish (default) or continuous publishing at a specified frequency for a duration. Before every use of this tool, the agent must call 'ros2_topic_list' and 'ros2_interface_list' to ensure the latest available topics and message types are known.

Parameters	Type	Description
`data`	`object`	Dictionary containing the message fields and values
`message_type`	`string`	Full ROS 2 message type, e.g., 'std_msgs/msg/String'
`topic_name`	`string`	Name of the topic to publish to
`duration`	`number`optional	Optional: Duration in seconds for continuous publishing. Must be used with frequency parameter.
`frequency`	`number`optional	Optional: Publish frequency in Hz (messages per second). If provided with duration, publishes repeatedly.

Tool: `ros2_topic_subscribe`

Subscribe to a ROS 2 topic by name collecting messages for a given time or count limit. Before every use of this tool, the agent must call 'ros2_topic_list' to ensure it has the latest available topics

Parameters	Type	Description
`topic_name`	`string`	Name of the topic to subscribe to
`duration`	`number`optional	If provided, collects messages for this many seconds.
`message_limit`	`integer`optional	If provided, stops after receiving this number of messages.

Use this MCP Server

{
  "mcpServers": {
    "ros2": {
      "command": "docker",
      "args": [
        "run",
        "-i",
        "--rm",
        "mcp/ros2"
      ]
    }
  }
}

Why is it safer to run MCP Servers with Docker?⁠

WiseVision ROS2

WiseVision ROS2 MCP Server

MCP Info

Image Building Info

Available Tools (14)

Tools Details

Tool: `ros2_action_request_result`

Tool: `ros2_action_subscribe_feedback`

Tool: `ros2_action_subscribe_status`

Tool: `ros2_cancel_action_goal`

Tool: `ros2_get_message_fields`

Tool: `ros2_get_messages_stored_in_influx_data_base`

Tool: `ros2_interface_list`

Tool: `ros2_list_actions`

Tool: `ros2_send_action_goal`

Tool: `ros2_service_call`

Tool: `ros2_service_list`

Tool: `ros2_topic_list`

Tool: `ros2_topic_publish`

Tool: `ros2_topic_subscribe`

Use this MCP Server

Related servers

AWS Core

Desktop Commander

Docker Hub

GitHub Official

WiseVision ROS2

WiseVision ROS2 MCP Server

MCP Info

Image Building Info

Available Tools (14)

Tools Details

Tool: ros2_action_request_result

Tool: ros2_action_subscribe_feedback

Tool: ros2_action_subscribe_status

Tool: ros2_cancel_action_goal

Tool: ros2_get_message_fields

Tool: ros2_get_messages_stored_in_influx_data_base

Tool: ros2_interface_list

Tool: ros2_list_actions

Tool: ros2_send_action_goal

Tool: ros2_service_call

Tool: ros2_service_list

Tool: ros2_topic_list

Tool: ros2_topic_publish

Tool: ros2_topic_subscribe

Use this MCP Server

Related servers

AWS Core

Desktop Commander

Docker Hub

GitHub Official

Tool: `ros2_action_request_result`

Tool: `ros2_action_subscribe_feedback`

Tool: `ros2_action_subscribe_status`

Tool: `ros2_cancel_action_goal`

Tool: `ros2_get_message_fields`

Tool: `ros2_get_messages_stored_in_influx_data_base`

Tool: `ros2_interface_list`

Tool: `ros2_list_actions`

Tool: `ros2_send_action_goal`

Tool: `ros2_service_call`

Tool: `ros2_service_list`

Tool: `ros2_topic_list`

Tool: `ros2_topic_publish`

Tool: `ros2_topic_subscribe`