lpigeon/ros-mcp-server
š š š šŖ š§ - The ROS MCP Server supports robot control by converting user-issued natural language commands into ROS or ROS2 control commands.
Quick Install
{
"mcpServers": {
"lpigeon-ros-mcp-server": {
"command": "npx",
"args": [
"-y",
"lpigeon-ros-mcp-server"
]
}
}
}Using an AI coding agent (Claude Code, Cursor, etc.)? Copy a ready-made prompt that tells it to fetch the setup instructions and install this server for you.
Documentation Overview
ROS MCP Server š§ āš¤
ROS-MCP-Server connects large language models (such as Claude, GPT, and Gemini) to robots, enabling bidirectional communication with no changes to existing robot source code.
Why ROS-MCP?
- No robot source code changes ā just add the
rosbridgenode to your existing ROS setup. - True two-way communication ā LLMs can both control robots and observe everything happening on the Robot.
- Full context ā publish & subscribe to topics, call services & actions, set parameters, read sensor data, and monitor robot state in real time.
- Deep ROS understanding ā guides the LLM to discover available topics, services, actions, and their types (including custom ones) ā enabling it to use them with the right syntax without manual configuration.
- Works with any MCP client ā built on the open MCP standard, supporting Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT, Cursor, and more.
- Works across ROS versions ā compatible across ROS 2 (Jazzy, Humble, and others) and ROS 1 distros.
š„ Examples in Action
š Example - AI Agent diagnosis of Industrial Robot End Effector (Video)
- The MCP server connects Claude to a production industrial robot, with only the technician manuals as reference.
- Claude discovers the robot's custom topic and service types and their syntax on its own.
- From a single prompt to test the gripper, it reads the manuals, runs its own tests, finds an anomaly, and reports the root cause.
š¤ Example - Controlling "Wilson" with natural language (video)
From a single prompt ā "Grab a Coke from the fridge & go to the living room." ā Google Gemini uses the MCP server to navigate and manipulate autonomously. Built on ROS 2 with Nav2 (SLAM) for mapping and navigation, and MoveIt to command the manipulator.
š Example - Controlling Unitree Go2 in NVIDIA Isaac Sim (video)
The MCP server connects Claude to a simulated Unitree Go2 quadruped in NVIDIA Isaac Sim, interpreting natural language commands to navigate and control the robot.
š Getting Started
Follow the installation guide to get started.
ROS-MCP works with Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT, Cursor, or any MCP-compatible client.
š More Examples & Tutorials
Browse our examples to see the server in action.
We welcome community PRs with new examples and integrations!
š¤ Contributing
We love contributions of all kinds:
- Bug fixes and documentation updates
- New features (e.g., Action support, permissions)
- Additional examples and tutorials
Check out the contributing guidelines and see issues tagged good first issue to get started.
š License
This project is licensed under the Apache License 2.0.