jonasneves.com

{
  "name": "connect_to_robot",
  "kind": "act",
  "impl": "imperative",
  "description": "Set the rosbridge WebSocket URL and reconnect.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "ip": {
        "type": "string",
        "description": "rosbridge host IP or hostname",
        "default": "127.0.0.1"
      },
      "port": {
        "type": "number",
        "description": "rosbridge port",
        "default": 9090
      }
    },
    "required": [
      "ip",
      "port"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_topics",
  "kind": "answer",
  "impl": "imperative",
  "description": "List all ROS topics.",
  "inputSchema": {
    "type": "object",
    "properties": {}
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_topic_type",
  "kind": "answer",
  "impl": "imperative",
  "description": "Get the message type for a ROS topic.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string",
        "description": "Full topic name, e.g. /turtle1/cmd_vel"
      }
    },
    "required": [
      "topic"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_topic_details",
  "kind": "answer",
  "impl": "imperative",
  "description": "Get publishers, subscribers, and type for a topic.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string"
      }
    },
    "required": [
      "topic"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "subscribe_once",
  "kind": "transact",
  "impl": "imperative",
  "description": "Subscribe to a topic and return the first message received.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string"
      },
      "msg_type": {
        "type": "string",
        "description": "ROS message type, e.g. turtlesim/msg/Pose"
      },
      "timeout": {
        "type": "number",
        "description": "Timeout in seconds (default 5)",
        "default": 5
      }
    },
    "required": [
      "topic",
      "msg_type"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "subscribe_for_duration",
  "kind": "transact",
  "impl": "imperative",
  "description": "Subscribe to a topic and collect messages for a given duration.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string"
      },
      "msg_type": {
        "type": "string"
      },
      "duration": {
        "type": "number",
        "description": "Duration in seconds"
      },
      "max_messages": {
        "type": "number",
        "description": "Stop after this many messages",
        "default": 100
      }
    },
    "required": [
      "topic",
      "msg_type",
      "duration"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "publish_once",
  "kind": "act",
  "impl": "imperative",
  "description": "Publish a single message to a topic.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string"
      },
      "msg_type": {
        "type": "string"
      },
      "msg": {
        "type": "object",
        "description": "Message payload as JSON object"
      }
    },
    "required": [
      "topic",
      "msg_type",
      "msg"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "publish_for_durations",
  "kind": "act",
  "impl": "imperative",
  "description": "Publish a sequence of messages with delays between each.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string"
      },
      "msg_type": {
        "type": "string"
      },
      "messages": {
        "type": "array",
        "items": {
          "type": "object"
        },
        "description": "Array of message payloads"
      },
      "durations": {
        "type": "array",
        "items": {
          "type": "number"
        },
        "description": "Delay in seconds after each message"
      }
    },
    "required": [
      "topic",
      "msg_type",
      "messages",
      "durations"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "turn_by_angle",
  "kind": "act",
  "impl": "imperative",
  "description": "Rotate a robot in place by an angle in degrees. Computes duration = (|angle_deg| x pi/180) / angular_velocity and sends a zero-velocity stop when finished. Prefer this over publish_for_durations for rotation — it removes the error-prone duration maths from the caller. Positive angle_deg = counter-clockwise, negative = clockwise. Units: angle_deg in degrees, angular_velocity in rad/s.\nExample — turn turtle1 90 degrees counter-clockwise at 1.0 rad/s:\nturn_by_angle(cmd_vel_topic='/ts1/turtle1/cmd_vel', msg_type='geometry_msgs/Twist', angle_deg=90)",
  "inputSchema": {
    "type": "object",
    "properties": {
      "cmd_vel_topic": {
        "type": "string",
        "description": "e.g. /ts1/turtle1/cmd_vel"
      },
      "msg_type": {
        "type": "string",
        "description": "e.g. geometry_msgs/Twist"
      },
      "angle_deg": {
        "type": "number",
        "description": "Degrees; positive = counter-clockwise"
      },
      "angular_velocity": {
        "type": "number",
        "description": "rad/s, must be > 0",
        "default": 1
      }
    },
    "required": [
      "cmd_vel_topic",
      "msg_type",
      "angle_deg"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "move_by_distance",
  "kind": "act",
  "impl": "imperative",
  "description": "Move a robot forward or backward by a distance in metres. Computes duration = |distance_m| / linear_velocity and sends a zero-velocity stop when finished. Prefer this over publish_for_durations for straight-line motion. Positive distance_m = forward, negative = backward. Units: distance_m in metres, linear_velocity in m/s.\nExample — move turtle1 forward 1 metre at 0.5 m/s:\nmove_by_distance(cmd_vel_topic='/ts1/turtle1/cmd_vel', msg_type='geometry_msgs/Twist', distance_m=1.0)",
  "inputSchema": {
    "type": "object",
    "properties": {
      "cmd_vel_topic": {
        "type": "string",
        "description": "e.g. /ts1/turtle1/cmd_vel"
      },
      "msg_type": {
        "type": "string",
        "description": "e.g. geometry_msgs/Twist"
      },
      "distance_m": {
        "type": "number",
        "description": "Metres; positive = forward"
      },
      "linear_velocity": {
        "type": "number",
        "description": "m/s, must be > 0",
        "default": 0.5
      }
    },
    "required": [
      "cmd_vel_topic",
      "msg_type",
      "distance_m"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_services",
  "kind": "answer",
  "impl": "imperative",
  "description": "List all available ROS services.",
  "inputSchema": {
    "type": "object",
    "properties": {}
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_service_details",
  "kind": "answer",
  "impl": "imperative",
  "description": "Get the request/response type and provider node for a service.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "service": {
        "type": "string"
      }
    },
    "required": [
      "service"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "call_service",
  "kind": "act",
  "impl": "imperative",
  "description": "Call a ROS service with a request payload.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "service_name": {
        "type": "string"
      },
      "service_type": {
        "type": "string"
      },
      "request": {
        "type": "object",
        "description": "Request payload as JSON object"
      }
    },
    "required": [
      "service_name",
      "service_type",
      "request"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_nodes",
  "kind": "answer",
  "impl": "imperative",
  "description": "List all running ROS nodes.",
  "inputSchema": {
    "type": "object",
    "properties": {}
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_node_details",
  "kind": "answer",
  "impl": "imperative",
  "description": "Get publishers, subscribers, and services for a node.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "node": {
        "type": "string"
      }
    },
    "required": [
      "node"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_connected_robots",
  "kind": "answer",
  "impl": "imperative",
  "description": "Detect connected robots by finding active cmd_vel topics on the ROS network. Works with any robot — no hardcoded names. Returns the cmd_vel topic and message type for each robot. Call this when you need to discover robot topics before issuing motion commands.",
  "inputSchema": {
    "type": "object",
    "properties": {}
  },
  "page": "/ros-mcp/"
}

{
  "name": "move_robots",
  "kind": "act",
  "impl": "imperative",
  "description": "Move multiple robots simultaneously. All start and stop at the same time. Use get_connected_robots() first to get topics and message types. Each robot entry needs: cmd_vel_topic, msg_type, and linear_x and/or angular_z.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "robots": {
        "type": "array",
        "items": {
          "type": "object",
          "properties": {
            "cmd_vel_topic": {
              "type": "string"
            },
            "msg_type": {
              "type": "string"
            },
            "linear_x": {
              "type": "number",
              "default": 0
            },
            "angular_z": {
              "type": "number",
              "default": 0
            }
          },
          "required": [
            "cmd_vel_topic",
            "msg_type"
          ]
        }
      },
      "duration": {
        "type": "number",
        "description": "Duration in seconds",
        "default": 2
      }
    },
    "required": [
      "robots"
    ]
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_robot_description",
  "kind": "answer",
  "impl": "imperative",
  "description": "Fetch the robot's URDF from the /robot_description ROS parameter. Requires robot_state_publisher to be running.",
  "inputSchema": {
    "type": "object",
    "properties": {}
  },
  "page": "/ros-mcp/"
}

{
  "name": "get_joint_states",
  "kind": "answer",
  "impl": "imperative",
  "description": "Read current joint positions (rad), velocities (rad/s), and efforts (N·m) from /joint_states.",
  "inputSchema": {
    "type": "object",
    "properties": {
      "topic": {
        "type": "string",
        "description": "Joint states topic (default: /joint_states)",
        "default": "/joint_states"
      },
      "timeout": {
        "type": "number",
        "description": "Timeout in seconds (default 5)",
        "default": 5
      }
    }
  },
  "page": "/ros-mcp/"
}