# yahboom-mcp [Health: Active] **Category:** ๐Ÿ’ป Developer Tools **Repository:** https://github.com/sandraschi/yahboom-mcp **GitHub Stars:** 4 **Views:** 0 **Installs:** 0 **Upvotes:** 0 **Directory Page:** https://allmcps.com/mcp/yahboom-mcp ## Description SOTA 2026 Yahboom Raspbot v2 ROS 2 MCP Server ## Claude Desktop Quick Installation Heuristic fallback โ€” verify the package name and runner against the repository README before running it. Uses `npx` (confidence: low): ```json "mcpServers": { "yahboom-mcp": { "command": "npx", "args": ["-y","yahboom-mcp"] } } ``` ## Documentation & README # Yahboom Raspbot v2 (Boomy) โ€” MCP Server, Webapp & Documentation

Just Ruff Python Biome FastMCP

> ๐Ÿ“– **[Installation Guide](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/INSTALL.md)** โ€” quick start, manual setup, and troubleshooting [![CI](https://github.com/sandraschi/yahboom-mcp/actions/workflows/ci.yml/badge.svg)](https://github.com/sandraschi/yahboom-mcp/actions/workflows/ci.yml) [![FastMCP 3.4](https://img.shields.io/badge/FastMCP-3.4.x-6366f1?style=flat-square&logo=python&logoColor=white)](https://github.com/jlowin/fastmcp) [![Python 3.12+](https://img.shields.io/badge/python-3.12%2B-3776ab?style=flat-square&logo=python&logoColor=white)](https://www.python.org/downloads/) [![ROS 2 Humble](https://img.shields.io/badge/ROS_2-Humble-22314E?style=flat-square&logo=ros&logoColor=white)](https://docs.ros.org/en/humble/) [![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff) [![Biome](https://img.shields.io/badge/linted-Biome-60a5fa?style=flat-square&logo=biome&logoColor=white)](https://biomejs.dev/) [![License](https://img.shields.io/github/license/sandraschi/yahboom-mcp?style=flat-square)](https://github.com/sandraschi/yahboom-mcp/blob/main/LICENSE) [![Stars](https://img.shields.io/github/stars/sandraschi/yahboom-mcp?style=flat-square&logo=github)](https://github.com/sandraschi/yahboom-mcp/stargazers) [![Last commit](https://img.shields.io/github/last-commit/sandraschi/yahboom-mcp?style=flat-square)](https://github.com/sandraschi/yahboom-mcp/commits/main) [![Ollama](https://img.shields.io/badge/Ollama-ready-5a5aff?style=flat-square&logo=ollama)](https://ollama.com/) [![LM Studio](https://img.shields.io/badge/LM_Studio-ready-8b5cf6?style=flat-square)](https://lmstudio.ai/) [![Topics](https://img.shields.io/badge/topics-robot%20%7C%20autonomous%20%7C%20lidar%20%7C%20agentic_ai-f97316?style=flat-square)](https://github.com/sandraschi/yahboom-mcp) ![Boomy Hero Shot](https://raw.githubusercontent.com/sandraschi/yahboom-mcp/HEAD/assets/boomy_hero.png) ## Quick Start ```powershell git clone https://github.com/sandraschi/yahboom-mcp cd yahboom-mcp just ``` This opens an interactive dashboard showing all available commands. Run `just bootstrap` to install dependencies, then `just serve` or `just dev` to start. ### Manual Setup If you don't have `just` installed: ## Overview **Boomy** is a **Yahboom Raspbot v2** (Mecanum Version) robot car. Weighing in at approximately **1.0 kg** and costing roughly **$300** (fully loaded with a Raspberry Pi 5 16GB), it provides a unified platform for testing sensor integration, ROS 2 orchestration, and agentic (AI-driven) robotics. It's also great fun for kids of all ages. ### The Manufacturer: Yahboom [Yahboom](https://www.yahboom.net/) is a prominent player in the Chinese robotics and STEM education industry. They offer a diverse range of hardware platforms: * **Market Range**: From entry-level $50 DIY kits to advanced $2,000+ STEM robots with precision mechanical arms. * **Industry Position**: They specialize in accessible hardware for education and prototyping, positioned below enterprise-grade platforms such as Unitree or Noetix. * **Developer Ecosystem**: Yahboom maintains a strong commitment to a **FOSS (Free and Open Source Software)** stack and provides active GitHub support for developers. --- ## ๐Ÿ—๏ธ Hardware Architecture Boomy utilizes a "Double-Stack" controller model to bridge real-time physical reliability with high-level cognitive tasks: 1. **Rosmaster (ESP32 / Micro-ROS)**: Small-form-factor hardware controller for low-latency motor control, ultrasonic pinging, and line-sensor processing. 2. **Raspberry Pi 5 (Optional / Gateway)**: The main brain for standalone operation. ### ๐Ÿš€ The "Zero-Host" Swarm Config For scaled deployments, Boomy can operate in a **Pi-less Swarm** mode: - **Setup**: Remove the Raspberry Pi; replace with a WiFi-to-Ethernet/UART bridge ($15). - **Control**: Centralized orchestration via a remote **Mothership** (PC with RTX 4090). - **Scaling**: Deploy 3+ units for the price of a single Pi-hosted robot. --- ## ๐Ÿ•น๏ธ Interface Separation This project clearly distinguishes between human-operable controls and machine-optimized interfaces: * **Human Interface**: A browser-based **Web Dashboard** (React/Vite) designed for manual telemetry observation, peripheral control (lights, OLED), and human-robot interaction. * **Machine Interface**: A standards-compliant **MCP Server** (Model Context Protocol) designed for AI agents and MCP clients to programmatic control Boomy as a tool within a larger fleet. --- ## ๐Ÿ“‚ Documentation Pillars | Pillar | Focus | Key Topics | | :--- | :--- | :--- | | **[Autonomous Missions](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ops/AUTONOMOUS_MISSIONS.md)** | **v2.4.0 โ€” Ollama โ†’ ROS** | Natural-language goals โ†’ LLM planning โ†’ ROS execution; vision detection (SSD MobileNet v2); ultrasonic obstacle avoidance; "find our dog" walkthrough. | | **[Startup & bringup](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ops/STARTUP_AND_BRINGUP.md)** | **Start here (robot + Goliath)** | ROS 2 vs **rosbridge_suite** (software) vs USB controller tier under the Pi; boot order; Docker/systemd on the Pi; what the webapp can restart; dashboard vs diagnostics. | | **[Agent missions & MCP](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ops/AGENT_MISSION_AND_MCP.md)** | **LLM โ†’ Pi missions** | **`yahboom_agent_mission`** (MCP) and **`POST /api/v1/agent/mission`** (HTTP); **`MissionPlanV1`**; env vars; **`boomy_mission_executor`**; Nav2 and **`/boomy/detections_json`**; troubleshooting vs **`yahboom_agentic_workflow`**. | | **[Rosmaster Architecture](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/hardware/ROSMASTER_ARCHITECTURE.md)** | **Dual-bus analysis** | I2C (0x2b) for motors/sensors, UART for IMU/battery; register map; container layout; micro-ROS analysis. | | **[Stack health probe](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ops/STACK_HEALTH_PROBE.md)** | **`health.stack`** | TTL SSH/TCP probes, **`YAHBOOM_ROS2_CONTAINER`**, lifecycle (never started vs exited vs **restart loop**), optional **`docker logs`** preview (redacted). | | **[Setup & Installation](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ops/installation.md)** | Dev install | `uv`, modes, baseline env vars. | | **[Software & Logic](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/core/)** | Architecture | System design, ROS 2 node graphs, and state management. | | **[Hardware & Pinouts](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/hardware/)** | Physical Layer | Wiring diagrams, I2C addresses, and sensor technical specs. | | **[Raspbot v2 hardware stack](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/hardware/RASPBOT_V2_HARDWARE_STACK.md)** | **Boomy chassis** | Chassis, mecanum, motors, lightstrip, PTZ, camera, IMU, ultrasonic, line/cliff, **expansion board vs rosbridge software**, Pi ports, I2C, battery, switch. | | **[ROS 2 Bridge](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/hardware/ROSBRIDGE.md)** | Connectivity | Bridge architecture, topic map, state cache, env vars, known bugs. | | **[Voice & Audio](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/hardware/VOICE_AUDIO.md)** | Sound System | CSK4002 module protocol, espeak-ng TTS, chatrobot architecture, audio soundboard with 17 built-in effects. | | **[Multi-Robot Integration](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/fleet/)** | Ecosystem | Federated fleet standards and cross-robot communication protocols. | | **[Configuration](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/CONFIGURATION.md)** | Reference | Env vars, ports, transport modes, LLM providers. | | **[Development](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/DEVELOPMENT.md)** | Reference | Dev setup, layout, test commands, five-gate. | | **[Tools](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/TOOLS.md)** | Reference | MCP tools, `yahboom_tool` operations, REST endpoints. | | **[Troubleshooting](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/TROUBLESHOOTING.md)** | Reference | Common issues and fixes. | | **[Onboarding](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/ONBOARDING.md)** | First-time setup | Hardware bring-up for Boomy (robot power, IP, sanity checks). | --- ### Webapp status surfaces - **Dashboard (`/dashboard`)** โ€” First page: basic **robot link** (gateway, target IP, ROS ยท SSH ยท video) and operator hints when the Raspbot is off or Goliath has no AP/Ethernet path. - **Diagnostic Hub (`/diagnostics`)** โ€” Detail: ROS topic explorer, node list, resync / hard reset, SSH shell, **stack health** table (same **`stack`** payload as the dashboard when available). - **Server logs (`/logs`)** โ€” Live **yahboom-mcp** log stream (SSE) on Goliath. --- *Historical status logs and legacy research are preserved in the [docs/archive/](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/docs/archive/) directory.* ## ๐Ÿ›ก๏ธ Industrial Quality Stack This project adheres to **SOTA 2026** industrial standards for high-fidelity agentic orchestration: - **Python (Core)**: [Ruff](https://astral.sh/ruff) for linting and formatting. Zero-tolerance for `print` statements in core handlers (`T201`). - **Webapp (UI)**: [Biome](https://biomejs.dev/) for sub-millisecond linting. - **MCP**: [FastMCP 3.4](https://github.com/jlowin/fastmcp) with Unified Gateway, portmanteau tools, skills, and agentic sampling. - **LLM Providers**: Auto-discovery of [Ollama](https://ollama.com/) (`:11434`) and [LM Studio](https://lmstudio.ai/) (`:1234`). GPU metrics via nvidia-smi. - **Automation**: [Justfile](https://github.com/sandraschi/yahboom-mcp/blob/HEAD/justfile) recipes for all fleet operations (`just lint`, `just fix`, `just dev`).