ROS MCP Server
A Model Context Protocol server that connects LLMs such as Claude, GPT and Gemini to ROS robots for two-way communication, without changing the robot's existing source code.
ROS-MCP-Server bridges large language models and robots running ROS. It only requires adding a rosbridge node to an existing ROS setup, after which an LLM can both control the robot and observe everything happening on it: publishing and subscribing to topics, calling services and actions, setting parameters, and reading sensor data and robot state in real time.
It guides the LLM to discover a robot's available topics, services and actions, including custom types, and use them with the correct syntax without manual configuration. It works across ROS 2 distributions such as Jazzy and Humble as well as ROS 1, and with any MCP client, including Claude Code, Codex CLI, Gemini CLI, Claude Desktop, ChatGPT and Cursor. It is written in Python under the Apache-2.0 license.