ROS1 Noetic MCP Server

An MCP (Model Context Protocol) server that provides LLM access to ROS1 Noetic robotic systems. Built with FastMCP and deployed as a Docker container.

Claude Code Quick Start

Add ROS MCP to Claude Code with a single command:

claude mcp add ros \
  -e ROS_MASTER_URI=http://localhost:11311 \
  -- docker run -i --rm --network host \
  -e ROS_MASTER_URI \
  ghcr.io/lopisan/ros-mcp --transport stdio

For remote ROS master:

claude mcp add ros \
  -e ROS_MASTER_URI=http://192.168.1.100:11311 \
  -e ROS_IP=192.168.1.50 \
  -- docker run -i --rm --network host \
  -e ROS_MASTER_URI -e ROS_IP \
  ghcr.io/lopisan/ros-mcp --transport stdio

Features

• Topic Management: List, publish, subscribe, and echo ROS topics
• Service Management: List and call ROS services
• Parameter Management: Get, set, list, and delete ROS parameters
• Node Inspection: List nodes and get detailed node information
• TF Transforms: Query coordinate frame transforms, transform points/poses
• Message Introspection: View message and service definitions

Quick Start

Prerequisites

• Docker and Docker Compose
• Running ROS1 Noetic system with roscore

Running with Docker Compose

1. Clone this repository:

git clone <repository-url>
cd ros_mcp

2. Set environment variables (optional):

export ROS_MASTER_URI=http://localhost:11311
export ROS_IP=127.0.0.1

3. Start the MCP server:

docker compose up -d

The server will be available at http://localhost:8000/mcp.

Running with stdio transport (for local development)

docker compose --profile stdio up ros-mcp-server-stdio

Testing the Server

Using MCP Inspector

The easiest way to test the MCP server is using the official MCP Inspector:

npx @modelcontextprotocol/inspector http://localhost:8000/mcp

This opens an interactive web UI where you can:

• Browse available tools and resources
• Test tool calls with custom parameters
• View server responses in real-time

Configuration

Environment Variables

MCP Client Configuration

Add to your MCP client configuration (e.g., Claude Desktop):

{
  "mcpServers": {
    "ros": {
      "url": "http://localhost:8000/mcp"
    }
  }
}

Claude Code Configuration

Add the MCP server to Claude Code using stdio transport:

# Local ROS master
claude mcp add ros \
  -e ROS_MASTER_URI=http://localhost:11311 \
  -- docker run -i --rm --network host \
  -e ROS_MASTER_URI \
  ros_mcp-ros-mcp-server --transport stdio

# Remote ROS master
claude mcp add ros \
  -e ROS_MASTER_URI=http://192.168.1.100:11311 \
  -e ROS_IP=192.168.1.50 \
  -- docker run -i --rm --network host \
  -e ROS_MASTER_URI -e ROS_IP \
  ros_mcp-ros-mcp-server --transport stdio

Other useful commands:

# List configured MCP servers
claude mcp list

# Remove the server
claude mcp remove ros

Available Tools

Topic Tools

Service Tools

Parameter Tools

Node Tools

Message Tools

TF Transform Tools

Available Resources

Example Usage

List all topics

Use the ros_list_topics tool to see what topics are available.

Get robot position

Use ros_subscribe_once on the /odom topic to get the current odometry.

Send a velocity command

Use ros_publish to send a geometry_msgs/Twist message to /cmd_vel with linear.x = 0.5.

Check TF transform

Use ros_lookup_transform to get the transform from base_link to map.

Development

Building locally

# Build the Docker image
docker build -t ros-mcp-server .

# Run with custom settings
docker run --network host \
  -e ROS_MASTER_URI=http://localhost:11311 \
  ros-mcp-server

Running without Docker

Requires ROS Noetic environment:

# Source ROS
source /opt/ros/noetic/setup.bash

# Install dependencies
pip install -e .

# Run the server
python -m ros_mcp_server --transport http --port 8000

Project Structure

ros_mcp/
├── Dockerfile
├── docker-compose.yml
├── pyproject.toml
├── requirements.txt
├── README.md
└── src/
    └── ros_mcp_server/
        ├── __init__.py
        ├── __main__.py
        ├── server.py
        ├── tools/
        │   ├── topics.py
        │   ├── services.py
        │   ├── params.py
        │   ├── nodes.py
        │   ├── messages.py
        │   └── transforms.py
        ├── resources/
        │   └── ros_resources.py
        └── utils/
            ├── ros_bridge.py
            └── message_utils.py

Troubleshooting

Cannot connect to ROS master

1. Ensure roscore is running
2. Check ROS_MASTER_URI is correct
3. Verify network connectivity (use network_mode: host in Docker)

Transform lookup fails

1. Wait for TF data to be published
2. Check that both frames exist with ros_list_frames
3. Verify the transform chain exists with ros_get_frame_tree

Message type not found

1. Ensure the message package is installed in the Docker container
2. For custom messages, mount the workspace or rebuild the Docker image

License

MIT License

References

• FastMCP Documentation
• ROS Noetic Documentation
• MCP Protocol