Ros2SAFE
Overview
From the repository's own README, as read at the audited commit. Badges and raw HTML are left out.
ros2-mcp-server is a Python-based server that integrates the Model Context Protocol (MCP) with ROS 2, enabling AI assistants to control robots via ROS 2 topics. It processes commands through FastMCP and runs as a ROS 2 node, publishing geometry_msgs/Twist messages to the /cmd_vel topic to control robot movement.
This implementation supports commands like "move forward at 0.2 m/s for 5 seconds and stop," with the /cmd_vel publisher named pub_cmd_vel.
Features
- MCP Integration: Uses FastMCP to handle commands from MCP clients (e.g., Claude).
- ROS 2 Native: Operates as a ROS 2 node, directly publishing to
/cmd_vel. - Time-Based Control: Supports duration-based movement commands (e.g., move for a specified time and stop).
- Asynchronous Processing: Combines FastMCP's
asynciowith ROS 2's event loop for efficient operation.
Prerequisites
- ROS 2: Humble distribution installed and sourced.
- Python: Version 3.10 (required for compatibility with ROS 2 Humble).
- uv: Python package manager for dependency management.
- Dependencies:
rclpy: ROS 2 Python client library (installed with ROS 2).fastmcp: FastMCP framework for MCP server implementation.numpy: Required by ROS 2 message types.
Installation
- Clone the Repository:
git clone https://github.com/kakimochi/ros2-mcp-server.git cd ros2-mcp-server
- Python Version Configuration:
This project uses Python 3.10 as required by ROS 2 Humble. The .python-version file is already configured:
# .python-version content 3.10
- Project Dependencies:
The pyproject.toml file is configured with the necessary dependencies:
# pyproject.toml content [project] name = "ros2-mcp-server" version = "0.1.0" description = "ROS 2 MCP Server" readme = "README.md" requires-python = ">=3.10" dependencies = [ "fastmcp", "numpy", ]
6e417867a9f5OBSERVED · 2026-10-07Connect
Built from this server's own package name, version and transport as found in its source — not copied from anyone's documentation, so it cannot drift against a page we do not control.
claude mcp add ros2-mcp-server -- uvx ros2-mcp-server
{
"mcpServers": {
"ros2-mcp-server": {
"command": "uvx",
"args": [
"ros2-mcp-server"
]
}
}
}Exposed tools (1)
0 read · 1 write · 0 destructive.
| Tool | Risk | Description |
|---|---|---|
move_robot | write | Send movement commands to the robot for a specified duration |
Trust audit
SAFEgrade B · trust 89/100 Nothing in the source contradicts what it says it does. Grade A is reserved for packages that have also passed the behavioural sandbox.
| Layer | What it checks | Result |
|---|---|---|
| L0 | Provenance & inventory | PASS |
| L1 | Static analysis of the code | PASS |
| L2 | Instruction surface (what it tells the agent) | PASS |
| L3 | Class-specific surface | PASS |
| L4 | Behavioural (sandbox) | SKIPPED |
What the source does
- Filesystem
- none-observed
- Network
- none-observed
- Shell
- none-observed
- Dependencies
- pinned
- Secrets in source
- none-found
Findings (1)
Gates applied: no_behavioural_pass, no_license.
6e417867a9f5full audit observations/trust-audit/mcp-server/kakimochi__ros2.json · Report an issue / request a re-scanAudit history
Every audit this server has had. A grade with a past is a grade somebody is still checking.
| Date | Source | Verdict | Grade | Score | Change |
|---|---|---|---|---|---|
| 2026-10-07 | 6e417867a9f5 | SAFE | B | 89 | first audit |
Questions
What tools does Ros2 expose?
1 in total: 0 read-only, 1 that write, and 0 that can delete or overwrite. Every one is listed on this page with its risk.
Is Ros2 safe to connect to an agent?
The audit found nothing in the source that contradicts what it says it does, and graded it B (89/100). Grade A is held back for packages that have also passed a sandboxed behavioural run, which is why a clean server reads B.
What credentials does Ros2 need?
No credential environment variables were found in its source, so it appears to need none.
How current is this page?
The grade is for one exact copy of the source (6e417867a9f5), read on 2026-10-07. The repository is watched and re-audited when it changes.