Tool reference

Pinned to ROS2 MCP release 2610. This page is generated from the server’s tool registry: do not edit it by hand.

Generated from ROS2 MCP 2606-3-g47b4918 (package version 0.1.0, source 47b4918658f44f77a0e46da223aba5d9cca64ab6).

24 tools are registered.

Tool	Mutates robot state	Summary
`ros2_action_request_result`	no	Wait for the RESULT of a ROS 2 action (GetResult) for a given goal_id. Before every use of this tool, the agent should ensure the target action exists (e.g., by calling ‘ros2_list_actions’).
`ros2_action_subscribe_feedback`	no	Subscribe to feedback messages of a ROS 2 action. Optionally filter by goal_id_hex. Collects feedback for a fixed duration or until a maximum number of messages is received. Each message contains goal_id, feedback payload, and receive timestamp.
`ros2_action_subscribe_status`	no	Subscribe to ‘/<action>/_action/status’ (action_msgs/msg/GoalStatusArray) and return a snapshot of status frames over a time window. Each frame contains goal_id, accept_stamp, status_code and status text.
`ros2_cancel_action_goal`	⚠ yes	Cancel a ROS 2 action goal via ‘/<action>/cancel_goal’ (action_msgs/srv/CancelGoal). You can cancel a specific goal by goal_id_hex or cancel all matching goals using cancel_all=True. Optionally limit cancellation to goals accepted before a given stamp (sec/nanosec). Before every use of this tool, the agent should ensure the target action exists (e.g., by calling ‘ros2_list_actions’).
`ros2_get_map_as_image`	no	Get one nav_msgs/msg/OccupancyGrid message from a topic and return it as a PNG image (base64-encoded). Unknown cells rendered as gray, free as white, occupied as black.
`ros2_get_message_fields`	no	Returns the fields of a given ROS2 message type.
`ros2_get_messages_stored_in_influx_data_base`	no	Calls the ROS2 ‘/get_messages’ service to retrieve past messages from a topic for data which is stored in InfluxDB.
`ros2_get_pointcloud_as_bev`	no	Get one sensor_msgs/msg/PointCloud2 message from a topic and return it as a PNG image (base64-encoded) rendered as a bird’s-eye view (XY projection). Supports coloring by intensity/height/rgb.
`ros2_interface_list`	no	Returns a list of available ROS 2 interfaces.
`ros2_list_actions`	no	List all available ROS 2 actions with their types and request fields.
`ros2_publish_multiple_topics`	⚠ yes	Publish messages to multiple ROS 2 topics simultaneously with optional frequency and duration.
`ros2_send_action_goal`	⚠ yes	Send a goal to a ROS 2 action by name and action type using provided goal fields. Before every use of this tool, the agent must call ‘ros2_list_actions’ and ‘ros2_interface_list’ to ensure the latest available actions and types are known. Optionally wait for the result with a timeout.
`ros2_service_call`	⚠ yes	Call a ROS 2 service by name and type using provided fields.
`ros2_service_list`	no	Returns a list of available ROS 2 services and their request fields.
`ros2_stream_next`	no	Fetch the latest item from a stream session. If after_seq is provided, returns available=false until seq increases. UI/App-only tool.
`ros2_stream_next_image`	no	Fetch the latest image from an image stream session and return it as ImageContent (useful when the client cannot render the Viewer App UI). UI/App-only tool.
`ros2_stream_start`	no	Start a keep-latest stream session for a ROS 2 topic (Image/CompressedImage/PointCloud2/Generic). Returns a session_id. UI/App-only tool.
`ros2_stream_stop`	no	Stop and clean up a stream session previously started with ros2_stream_start. UI/App-only tool.
`ros2_subscribe_multiple_topics`	no	Subscribe to multiple ROS 2 topics at once and return received messages.
`ros2_topic_list`	no	Returns a list of available ROS 2 topics and their types.
`ros2_topic_publish`	⚠ yes	Publish a message to a ROS 2 topic by name and message type using provided field values.
`ros2_topic_subscribe`	no	Subscribe to a ROS 2 topic by name collecting messages for a given time or count limit.
`ros2_viewer_app`	no	Open an interactive ROS 2 viewer app (Image + PointCloud2 + Plot) for MCP clients that support Apps/HTML resources.
`ros2_viewer_config`	no	Return the last ROS 2 Viewer App configuration (if any). UI/App-only tool.

`ros2_action_request_result`

Wait for the RESULT of a ROS 2 action (GetResult) for a given goal_id. Before every use of this tool, the agent should ensure the target action exists (e.g., by calling ‘ros2_list_actions’).

Parameter	Type	Required	Notes
`action_name`	string	yes	Action name, e.g. ‘/fibonacci’
`action_type`	string	yes	Full action type, e.g. ‘example_interfaces/action/Fibonacci’ or ‘pkg/ActionName’
`goal_id_hex`	string	yes	32-char UUID hex of the goal (no dashes).
`timeout_sec`	number \| null	no	Seconds to wait for GetResult; null → wait indefinitely. · default: `60.0`
`wait_for_service_sec`	number	no	Seconds to wait for the GetResult service to appear. · default: `3.0`

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "action_name": {
      "description": "Action name, e.g. '/fibonacci'",
      "type": "string"
    },
    "action_type": {
      "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
      "type": "string"
    },
    "goal_id_hex": {
      "description": "32-char UUID hex of the goal (no dashes).",
      "type": "string"
    },
    "timeout_sec": {
      "anyOf": [
        {
          "type": "number"
        },
        {
          "type": "null"
        }
      ],
      "default": 60.0,
      "description": "Seconds to wait for GetResult; null → wait indefinitely."
    },
    "wait_for_service_sec": {
      "default": 3.0,
      "description": "Seconds to wait for the GetResult service to appear.",
      "type": "number"
    }
  },
  "required": [
    "action_name",
    "action_type",
    "goal_id_hex"
  ],
  "type": "object"
}

`ros2_action_subscribe_feedback`

Subscribe to feedback messages of a ROS 2 action. Optionally filter by goal_id_hex. Collects feedback for a fixed duration or until a maximum number of messages is received. Each message contains goal_id, feedback payload, and receive timestamp.

Parameter	Type	Required	Notes
`action_name`	string	yes	Action name, e.g. ‘/fibonacci’
`action_type`	string	yes	Full action type, e.g. ‘example_interfaces/action/Fibonacci’ or ‘pkg/ActionName’
`duration_sec`	number	no	How many seconds to keep spinning and collecting feedback. · default: `5.0`
`goal_id_hex`	string \| null	no	Optional 32-char UUID hex of the goal (no dashes) to filter feedbacks.
`max_messages`	integer	no	Maximum number of feedback messages to collect. · default: `100`

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "action_name": {
      "description": "Action name, e.g. '/fibonacci'",
      "type": "string"
    },
    "action_type": {
      "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
      "type": "string"
    },
    "duration_sec": {
      "default": 5.0,
      "description": "How many seconds to keep spinning and collecting feedback.",
      "type": "number"
    },
    "goal_id_hex": {
      "description": "Optional 32-char UUID hex of the goal (no dashes) to filter feedbacks.",
      "type": [
        "string",
        "null"
      ]
    },
    "max_messages": {
      "default": 100,
      "description": "Maximum number of feedback messages to collect.",
      "type": "integer"
    }
  },
  "required": [
    "action_name",
    "action_type"
  ],
  "type": "object"
}

`ros2_action_subscribe_status`

Subscribe to ‘/<action>/_action/status’ (action_msgs/msg/GoalStatusArray) and return a snapshot of status frames over a time window. Each frame contains goal_id, accept_stamp, status_code and status text.

Parameter	Type	Required	Notes
`action_name`	string	yes	Action name, e.g. ‘/fibonacci’
`duration_sec`	number	no	How many seconds to collect status frames. · default: `5.0`
`max_messages`	integer	no	Max number of individual statuses to collect in total. · default: `100`

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "action_name": {
      "description": "Action name, e.g. '/fibonacci'",
      "type": "string"
    },
    "duration_sec": {
      "default": 5.0,
      "description": "How many seconds to collect status frames.",
      "type": "number"
    },
    "max_messages": {
      "default": 100,
      "description": "Max number of individual statuses to collect in total.",
      "type": "integer"
    }
  },
  "required": [
    "action_name"
  ],
  "type": "object"
}

`ros2_cancel_action_goal`

⚠ mutates robot state

Cancel a ROS 2 action goal via ‘/<action>/cancel_goal’ (action_msgs/srv/CancelGoal). You can cancel a specific goal by goal_id_hex or cancel all matching goals using cancel_all=True. Optionally limit cancellation to goals accepted before a given stamp (sec/nanosec). Before every use of this tool, the agent should ensure the target action exists (e.g., by calling ‘ros2_list_actions’).

Parameter	Type	Required	Notes
`action_name`	string	yes	Action name, e.g. ‘/fibonacci’ or ‘/navigate_to_pose’
`cancel_all`	boolean	no	If true, send zero-UUID to cancel all matching goals. · default: `false`
`goal_id_hex`	string	no	32-char UUID hex of the goal (no dashes). Omit when cancel_all=True.
`stamp_nanosec`	integer	no	Nanoseconds part for the acceptance time filter. · default: `0`
`stamp_sec`	integer	no	Cancel goals accepted BEFORE this sec (default 0 → usually all). · default: `0`
`wait_timeout_sec`	number	no	Timeout (seconds) to wait for the service and response. · default: `3.0`

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "action_name": {
      "description": "Action name, e.g. '/fibonacci' or '/navigate_to_pose'",
      "type": "string"
    },
    "cancel_all": {
      "default": false,
      "description": "If true, send zero-UUID to cancel all matching goals.",
      "type": "boolean"
    },
    "goal_id_hex": {
      "description": "32-char UUID hex of the goal (no dashes). Omit when cancel_all=True.",
      "type": "string"
    },
    "stamp_nanosec": {
      "default": 0,
      "description": "Nanoseconds part for the acceptance time filter.",
      "type": "integer"
    },
    "stamp_sec": {
      "default": 0,
      "description": "Cancel goals accepted BEFORE this sec (default 0 → usually all).",
      "type": "integer"
    },
    "wait_timeout_sec": {
      "default": 3.0,
      "description": "Timeout (seconds) to wait for the service and response.",
      "type": "number"
    }
  },
  "required": [
    "action_name"
  ],
  "type": "object"
}

`ros2_get_map_as_image`

Get one nav_msgs/msg/OccupancyGrid message from a topic and return it as a PNG image (base64-encoded). Unknown cells rendered as gray, free as white, occupied as black.

Parameter	Type	Required	Notes
`topic_name`	string	yes	The name of the ROS 2 topic publishing nav_msgs/msg/OccupancyGrid (e.g., /map).

Input schema (JSON)

{
  "properties": {
    "topic_name": {
      "description": "The name of the ROS 2 topic publishing nav_msgs/msg/OccupancyGrid (e.g., /map).",
      "type": "string"
    }
  },
  "required": [
    "topic_name"
  ],
  "type": "object"
}

`ros2_get_message_fields`

Returns the fields of a given ROS2 message type.

Parameter	Type	Required	Notes
`message_type`	string	yes	Full ROS2 message type, e.g., std_msgs/msg/String

Input schema (JSON)

{
  "properties": {
    "message_type": {
      "description": "Full ROS2 message type, e.g., std_msgs/msg/String",
      "type": "string"
    }
  },
  "required": [
    "message_type"
  ],
  "type": "object"
}

`ros2_get_messages_stored_in_influx_data_base`

Calls the ROS2 ‘/get_messages’ service to retrieve past messages from a topic for data which is stored in InfluxDB. Check if the /get_messages service is available before calling.

Parameter	Type	Required	Notes
`message_type`	string	yes	Full ROS2 message type used for decoding
`number_of_messages`	integer	no	Number of messages to fetch. · default: `0`
`time_end`	string	no	ISO8601 timestamp string to filter messages before a point in time.
`time_start`	string	no	ISO8601 timestamp string to filter messages after a point in time.
`topic_name`	string	yes	Name of the topic to retrieve messages from.

Input schema (JSON)

{
  "properties": {
    "message_type": {
      "description": "Full ROS2 message type used for decoding",
      "type": "string"
    },
    "number_of_messages": {
      "default": 0,
      "description": "Number of messages to fetch.",
      "type": "integer"
    },
    "time_end": {
      "description": "ISO8601 timestamp string to filter messages before a point in time.",
      "type": "string"
    },
    "time_start": {
      "description": "ISO8601 timestamp string to filter messages after a point in time.",
      "type": "string"
    },
    "topic_name": {
      "description": "Name of the topic to retrieve messages from.",
      "type": "string"
    }
  },
  "required": [
    "topic_name",
    "message_type"
  ],
  "type": "object"
}

`ros2_get_pointcloud_as_bev`

Get one sensor_msgs/msg/PointCloud2 message from a topic and return it as a PNG image (base64-encoded) rendered as a bird’s-eye view (XY projection). Supports coloring by intensity/height/rgb.

Parameter	Type	Required	Notes
`color_mode`	string	no	Coloring mode: ‘intensity’ \| ‘height’ \| ‘rgb’. · one of: `"intensity"`, `"height"`, `"rgb"` · default: `"intensity"`
`colormap`	string	no	Colormap for intensity/height: ‘jet’ \| ‘gray’. · one of: `"jet"`, `"gray"` · default: `"jet"`
`max_pixels`	integer	no	Max image size per axis (to cap huge clouds). · default: `2048`
`resolution`	number	no	Meters per pixel for the BEV image. · default: `0.05`
`timeout`	number	no	Seconds to wait for a message. · default: `5.0`
`topic_name`	string	yes	ROS 2 topic with PointCloud2 (e.g., /points).
`zmax`	number	no	Max Z to include (meters).
`zmin`	number	no	Min Z to include (meters).

Input schema (JSON)

{
  "properties": {
    "color_mode": {
      "default": "intensity",
      "description": "Coloring mode: 'intensity' | 'height' | 'rgb'.",
      "enum": [
        "intensity",
        "height",
        "rgb"
      ],
      "type": "string"
    },
    "colormap": {
      "default": "jet",
      "description": "Colormap for intensity/height: 'jet' | 'gray'.",
      "enum": [
        "jet",
        "gray"
      ],
      "type": "string"
    },
    "max_pixels": {
      "default": 2048,
      "description": "Max image size per axis (to cap huge clouds).",
      "type": "integer"
    },
    "resolution": {
      "default": 0.05,
      "description": "Meters per pixel for the BEV image.",
      "type": "number"
    },
    "timeout": {
      "default": 5.0,
      "description": "Seconds to wait for a message.",
      "type": "number"
    },
    "topic_name": {
      "description": "ROS 2 topic with PointCloud2 (e.g., /points).",
      "type": "string"
    },
    "zmax": {
      "description": "Max Z to include (meters).",
      "type": "number"
    },
    "zmin": {
      "description": "Min Z to include (meters).",
      "type": "number"
    }
  },
  "required": [
    "topic_name"
  ],
  "type": "object"
}

`ros2_interface_list`

Returns a list of available ROS 2 interfaces.

No parameters.

Input schema (JSON)

{
  "properties": {},
  "type": "object"
}

`ros2_list_actions`

List all available ROS 2 actions with their types and request fields. This tool queries the current ROS graph to discover active action servers and returns a structured description for each action.

No parameters.

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {},
  "type": "object"
}

`ros2_publish_multiple_topics`

⚠ mutates robot state

Publish messages to multiple ROS 2 topics simultaneously with optional frequency and duration.

Parameter	Type	Required	Notes
`topics`	array<object>	yes	List of topics to publish to.

Input schema (JSON)

{
  "properties": {
    "topics": {
      "description": "List of topics to publish to.",
      "items": {
        "properties": {
          "data": {
            "description": "Message content as dictionary",
            "type": "object"
          },
          "duration": {
            "default": 5.0,
            "description": "Duration in seconds to publish (optional)",
            "type": "number"
          },
          "frequency": {
            "default": 1.0,
            "description": "Publishing frequency in Hz (optional)",
            "type": "number"
          },
          "message_type": {
            "type": "string"
          },
          "topic_name": {
            "type": "string"
          }
        },
        "required": [
          "topic_name",
          "message_type",
          "data"
        ],
        "type": "object"
      },
      "type": "array"
    }
  },
  "required": [
    "topics"
  ],
  "type": "object"
}

`ros2_send_action_goal`

⚠ mutates robot state

Send a goal to a ROS 2 action by name and action type using provided goal fields. Before every use of this tool, the agent must call ‘ros2_list_actions’ and ‘ros2_interface_list’ to ensure the latest available actions and types are known. Optionally wait for the result with a timeout.

Parameter	Type	Required	Notes
`action_name`	string	yes	Action name, e.g. ‘/fibonacci’ or ‘/navigate_to_pose’
`action_type`	string	yes	Full action type, e.g. ‘example_interfaces/action/Fibonacci’ or ‘pkg/ActionName’
`goal_fields`	object	yes	Dictionary with goal message fields (1st section of .action file)
`timeout_sec`	number	no	Timeout (seconds) for waiting on the result when wait_for_result=true · default: `60.0`
`wait_for_result`	boolean	no	If true, wait for GetResult and include final status/result · default: `false`

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "action_name": {
      "description": "Action name, e.g. '/fibonacci' or '/navigate_to_pose'",
      "type": "string"
    },
    "action_type": {
      "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
      "type": "string"
    },
    "goal_fields": {
      "description": "Dictionary with goal message fields (1st section of .action file)",
      "type": "object"
    },
    "timeout_sec": {
      "default": 60.0,
      "description": "Timeout (seconds) for waiting on the result when wait_for_result=true",
      "type": "number"
    },
    "wait_for_result": {
      "default": false,
      "description": "If true, wait for GetResult and include final status/result",
      "type": "boolean"
    }
  },
  "required": [
    "action_name",
    "action_type",
    "goal_fields"
  ],
  "type": "object"
}

`ros2_service_call`

⚠ mutates robot state

Call a ROS 2 service by name and type using provided fields. Will ask the user to confirm if some fields are missing unless ‘force_call’ is set to True. Before every use of this tool, the agent must call ‘ros2 service list’ and ‘ros2 interface list’ to ensure the latest interface information is available.

Parameter	Type	Required	Notes
`fields`	object	yes	Dictionary of fields to send in the service request.
`force_call`	boolean	no	Whether to call the service even if some fields are missing · default: `false`
`service_name`	string	yes	Name of the service to call
`service_type`	string	yes	Full ROS 2 service type, before pass, check service type using tool ros2_service_list

Input schema (JSON)

{
  "properties": {
    "fields": {
      "description": "Dictionary of fields to send in the service request.",
      "type": "object"
    },
    "force_call": {
      "default": false,
      "description": "Whether to call the service even if some fields are missing",
      "type": "boolean"
    },
    "service_name": {
      "description": "Name of the service to call",
      "type": "string"
    },
    "service_type": {
      "description": "Full ROS 2 service type, before pass, check service type using tool ros2_service_list",
      "type": "string"
    }
  },
  "required": [
    "service_name",
    "service_type",
    "fields"
  ],
  "type": "object"
}

`ros2_service_list`

Returns a list of available ROS 2 services and their request fields.

No parameters.

Input schema (JSON)

{
  "properties": {},
  "type": "object"
}

`ros2_stream_next`

Fetch the latest item from a stream session. If after_seq is provided, returns available=false until seq increases. UI/App-only tool.

Parameter	Type	Required	Notes
`after_seq`	integer	no
`session_id`	string	yes

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "after_seq": {
      "type": "integer"
    },
    "session_id": {
      "type": "string"
    }
  },
  "required": [
    "session_id"
  ],
  "type": "object"
}

`ros2_stream_next_image`

Fetch the latest image from an image stream session and return it as ImageContent (useful when the client cannot render the Viewer App UI). UI/App-only tool.

Parameter	Type	Required	Notes
`after_seq`	integer	no
`session_id`	string	yes

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "after_seq": {
      "type": "integer"
    },
    "session_id": {
      "type": "string"
    }
  },
  "required": [
    "session_id"
  ],
  "type": "object"
}

`ros2_stream_start`

Start a keep-latest stream session for a ROS 2 topic (Image/CompressedImage/PointCloud2/Generic). Returns a session_id. UI/App-only tool.

Parameter	Type	Required	Notes
`jpeg_quality`	integer	no	default: `80`
`kind`	string	yes	one of: `"image"`, `"pointcloud"`, `"message"`
`max_height`	integer	no	default: `540`
`max_points`	integer	no	Max points to return; <=0 means no limit. · default: `0`
`max_width`	integer	no	default: `960`
`qos_preset`	string	no	QoS preset for the stream subscription. Use sensor_data for most camera topics. · one of: `"auto"`, `"sensor_data"`, `"system_default"` · default: `"auto"`
`target_fps`	number	no	Soft cap for processing frames (keep-latest, drops when over). · default: `20.0`
`topic_name`	string	yes

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "jpeg_quality": {
      "default": 80,
      "type": "integer"
    },
    "kind": {
      "enum": [
        "image",
        "pointcloud",
        "message"
      ],
      "type": "string"
    },
    "max_height": {
      "default": 540,
      "type": "integer"
    },
    "max_points": {
      "default": 0,
      "description": "Max points to return; <=0 means no limit.",
      "type": "integer"
    },
    "max_width": {
      "default": 960,
      "type": "integer"
    },
    "qos_preset": {
      "default": "auto",
      "description": "QoS preset for the stream subscription. Use sensor_data for most camera topics.",
      "enum": [
        "auto",
        "sensor_data",
        "system_default"
      ],
      "type": "string"
    },
    "target_fps": {
      "default": 20.0,
      "description": "Soft cap for processing frames (keep-latest, drops when over).",
      "type": "number"
    },
    "topic_name": {
      "type": "string"
    }
  },
  "required": [
    "topic_name",
    "kind"
  ],
  "type": "object"
}

`ros2_stream_stop`

Stop and clean up a stream session previously started with ros2_stream_start. UI/App-only tool.

Parameter	Type	Required	Notes
`session_id`	string	yes

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {
    "session_id": {
      "type": "string"
    }
  },
  "required": [
    "session_id"
  ],
  "type": "object"
}

`ros2_subscribe_multiple_topics`

Subscribe to multiple ROS 2 topics at once and return received messages.

Parameter	Type	Required	Notes
`topics`	array<object>	yes	List of topics to subscribe to.

Input schema (JSON)

{
  "properties": {
    "topics": {
      "description": "List of topics to subscribe to.",
      "items": {
        "properties": {
          "duration": {
            "default": 0.0,
            "description": "How many seconds to listen (optional).",
            "type": "number"
          },
          "message_limit": {
            "default": 0,
            "description": "Number of messages to collect (optional).",
            "type": "integer"
          },
          "name": {
            "type": "string"
          }
        },
        "required": [
          "name"
        ],
        "type": "object"
      },
      "type": "array"
    }
  },
  "required": [
    "topics"
  ],
  "type": "object"
}

`ros2_topic_list`

Returns a list of available ROS 2 topics and their types.

No parameters.

Input schema (JSON)

{
  "properties": {},
  "type": "object"
}

`ros2_topic_publish`

⚠ mutates robot state

Publish a message to a ROS 2 topic by name and message type using provided field values. Supports single publish (default) or continuous publishing at a specified frequency for a duration. Before every use of this tool, the agent must call ‘ros2_topic_list’ and ‘ros2_interface_list’ to ensure the latest available topics and message types are known.

Parameter	Type	Required	Notes
`data`	object	yes	Dictionary containing the message fields and values
`duration`	number	no	Optional: Duration in seconds for continuous publishing. Must be used with frequency parameter.
`frequency`	number	no	Optional: Publish frequency in Hz (messages per second). If provided with duration, publishes repeatedly.
`message_type`	string	yes	Full ROS 2 message type, e.g., ‘std_msgs/msg/String’
`topic_name`	string	yes	Name of the topic to publish to

Input schema (JSON)

{
  "properties": {
    "data": {
      "description": "Dictionary containing the message fields and values",
      "type": "object"
    },
    "duration": {
      "description": "Optional: Duration in seconds for continuous publishing. Must be used with frequency parameter.",
      "type": "number"
    },
    "frequency": {
      "description": "Optional: Publish frequency in Hz (messages per second). If provided with duration, publishes repeatedly.",
      "type": "number"
    },
    "message_type": {
      "description": "Full ROS 2 message type, e.g., 'std_msgs/msg/String'",
      "type": "string"
    },
    "topic_name": {
      "description": "Name of the topic to publish to",
      "type": "string"
    }
  },
  "required": [
    "topic_name",
    "message_type",
    "data"
  ],
  "type": "object"
}

`ros2_topic_subscribe`

Subscribe to a ROS 2 topic by name collecting messages for a given time or count limit. Before every use of this tool, the agent must call ‘ros2_topic_list’ to ensure it has the latest available topics

Parameter	Type	Required	Notes
`duration`	number	no	If provided, collects messages for this many seconds.
`message_limit`	integer	no	If provided, stops after receiving this number of messages.
`topic_name`	string	yes	Name of the topic to subscribe to

Input schema (JSON)

{
  "properties": {
    "duration": {
      "description": "If provided, collects messages for this many seconds.",
      "type": "number"
    },
    "message_limit": {
      "description": "If provided, stops after receiving this number of messages.",
      "type": "integer"
    },
    "topic_name": {
      "description": "Name of the topic to subscribe to",
      "type": "string"
    }
  },
  "required": [
    "topic_name"
  ],
  "type": "object"
}

`ros2_viewer_app`

Open an interactive ROS 2 viewer app (Image + PointCloud2 + Plot) for MCP clients that support Apps/HTML resources.

Parameter	Type	Required	Notes
`auto_start`	boolean	no	default: `true`
`plot_fields`	array<string>	no	Optional list of plot field paths to preselect in Plot mode.
`preferred_kind`	string	no	one of: `"image"`, `"pointcloud"`, `"plot"`, `"auto"`
`topic_name`	string	no

Input schema (JSON)

{
  "properties": {
    "auto_start": {
      "default": true,
      "type": "boolean"
    },
    "plot_fields": {
      "description": "Optional list of plot field paths to preselect in Plot mode.",
      "items": {
        "type": "string"
      },
      "type": "array"
    },
    "preferred_kind": {
      "enum": [
        "image",
        "pointcloud",
        "plot",
        "auto"
      ],
      "type": "string"
    },
    "topic_name": {
      "type": "string"
    }
  },
  "type": "object"
}

`ros2_viewer_config`

Return the last ROS 2 Viewer App configuration (if any). UI/App-only tool.

No parameters.

Input schema (JSON)

{
  "additionalProperties": false,
  "properties": {},
  "type": "object"
}