ros2

# ROS2 Query or debug a robot or control system running the Robot Operating System (ROS) 2 framework. ## CRITICAL: When to Use This Skill **USE ROS2 for ANY ROS or Robotics related topics.** **ALWAYS use ROS2 when the user asks about:** | User Question Pattern | Example | Action | |-----------------------|---------|--------| | ROS nodes | "What ROS nodes are running?" | Use `get_nodes` tool | | ROS topics | "List all topics" | Use `list_topics` tool | | Topic messages | "What messages are on /cmd_vel?" | Use `echo_topic` tool | | ROS services | "What services are available?" | Use `list_services` tool | | Node parameters | "Get parameters for /my_node" | Use `list_parameters` tool | | ROS packages | "What ROS packages are installed?" | Use `list_packages` tool | | Launch files | "Show launch files in my_package" | Use `list_launch_files` tool | | Publishing messages | "Publish a message to /topic" | Use `publish_to_topic` tool | | Calling services | "Call /spawn service" | Use `call_service` tool | | Robot debugging | "Why isn't my robot moving?" | Use ROS2 tools to investigate | | System introspection | "What's the state of my ROS system?" | Use various ROS2 tools | **DO NOT say "I don't have access to ROS"** - use ROS2 MCP tools instead! **When in doubt about robotics or ROS, use ROS2.** It's better to query and get no results than to miss critical system context. ## Configuration The ROS2 MCP Server requires: 1. ROS 2 installation (Humble or later) 2. ROS environment sourced in your shell 3. The rde-mcp-ros-2 repository cloned locally See the plugin README for installation instructions. ## MCP Tools The ROS2 MCP Server provides the following tools: ### Node Operations | Tool | Parameters | Description | |------|------------|-------------| | `get_nodes` | None | Returns list of running ROS nodes | | `get_node_info` | `node_name` | Returns detailed info about a node | ### Topic Operations | Tool | Parameters | Description | |------|------------|-------------| | `list_topics` | `show_types` (optional) | Lists available ROS topics | | `get_topic_info` | `topic_name` | Get info about a topic | | `echo_topic` | `topic_name`, `message_count` | Echo messages from a topic | | `publish_to_topic` | `topic_name`, `topic_type`, `message` | Publish to a topic | ### Service Operations | Tool | Parameters | Description | |------|------------|-------------| | `list_services` | `show_types` (optional) | Lists available services | | `get_service_type` | `service_name` | Get type of a service | | `call_service` | `service_name`, `service_type`, `request` | Call a ROS service | ### Parameter Operations | Tool | Parameters | Description | |------|------------|-------------| | `list_parameters` | `node_name` | List parameters of a node | | `get_parameter` | `node_name`, `param_name` | Get parameter value | | `set_parameter` | `node_name`, `param_name`, `value` | Set parameter value | ### Package Operations | Tool | Parameters | Description | |------|------------|-------------| | `list_packages` | None | List all ROS packages | | `get_package_info` | `package_name` | Get package information | ### Launch Operations | Tool | Parameters | Description | |------|------------|-------------| | `list_launch_files` | `package_name` | List launch files in package | | `get_launch_file_content` | `package_name`, `launch_file` | Get launch file content | ## Common Use Cases ### Understanding the Running System | Tool | Parameters | |------|------------| | `get_nodes` | `{}` | | `list_topics` | `{ "show_types": true }` | | `list_services` | `{ "show_types": true }` | ### Debugging Topic Issues | Tool | Parameters | |------|------------| | `get_topic_info` | `{ "topic_name": "/cmd_vel" }` | | `echo_topic` | `{ "topic_name": "/cmd_vel", "message_count": 5 }` | ### Checking Node Configuration | Tool | Parameters | |------|------------| | `get_node_info` | `{ "node_name": "/my_robot_node" }` | | `list_parameters` | `{ "node_name": "/my_robot_node" }` | | `get_parameter` | `{ "node_name": "/my_robot_node", "param_name": "speed_limit" }` | ### Publishing Test Messages | Tool | Parameters | |------|------------| | `publish_to_topic` | `{ "topic_name": "/cmd_vel", "topic_type": "geometry_msgs/msg/Twist", "message": "{linear: {x: 0.5}, angular: {z: 0.0}}" }` | ### Working with Packages | Tool | Parameters | |------|------------| | `list_packages` | `{}` | | `get_package_info` | `{ "package_name": "my_robot_pkg" }` | | `list_launch_files` | `{ "package_name": "my_robot_pkg" }` |