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Merge pull request #134 from robotmcp/release/v2.1.4
Release v2.1.4
2 parents 48ae8f8 + 773643e commit 842c0e6

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‎.devcontainer/Dockerfile‎

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FROM osrf/ros:humble-desktop
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# Install dev tools, ROS2 extras, git, Python and pip
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RUN apt-get update && apt-get install -y \
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python3 \
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python3-colcon-common-extensions \
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python3-rosdep \
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python3-vcstool \
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python3-pip \
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git \
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build-essential \
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ros-humble-rosbridge-server \
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# GUI + X11/WSL2 compatibility
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x11-apps \
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libx11-xcb1 libxcb-icccm4 libxcb-image0 libxcb-keysyms1 \
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libxcb-randr0 libxcb-render-util0 libxcb-xinerama0 \
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mesa-utils \
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libgl1-mesa-glx \
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libglu1-mesa \
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libxext6 \
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libxrender1 \
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libxrandr2 \
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libxi6 \
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&& rm -rf /var/lib/apt/lists/*
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# Ensure pip is accessible as `pip`
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RUN ln -sf /usr/bin/pip3 /usr/bin/pip
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# Initialize rosdep
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RUN rosdep init || true && rosdep update
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# Install Ruff, pre-commit, uv globally
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RUN pip install --no-cache-dir ruff pre-commit uv
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# Add non-root user for VSCode devcontainer
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ARG USERNAME=vscode
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME
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# Auto-source ROS2 for all users
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RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
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# Set locale
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ENV LANG=C.UTF-8
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ENV LC_ALL=C.UTF-8
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# Ensure Qt apps can run
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ENV QT_X11_NO_MITSHM=1
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ENV QT_QPA_PLATFORM=xcb
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ENV LIBGL_ALWAYS_SOFTWARE=1
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ENV QT_XCB_GL_INTEGRATION=none
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# Create a workspace for the non-root user
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RUN mkdir -p /home/$USERNAME/workspace \
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&& chown -R $USERNAME:$USERNAME /home/$USERNAME/workspace
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# Set workspace directory
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WORKDIR /home/$USERNAME/workspace
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# Switch to non-root user by default in devcontainer
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USER $USERNAME
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# Allow pre-commit to run even if no config exists
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ENV PRE_COMMIT_ALLOW_NO_CONFIG=1
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RUN git init . \
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&& pre-commit install --allow-missing-config || true

‎.devcontainer/devcontainer.json‎

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{
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"name": "ROS2 Humble Dev",
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"build": { "dockerfile": "Dockerfile" },
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"workspaceFolder": "/home/vscode/workspace",
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"mounts": [
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"source=${localWorkspaceFolder},target=/home/vscode/workspace,type=bind"
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],
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"runArgs": [
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"--gpus=all",
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"-v", "${env:SSH_AUTH_SOCK}:/ssh-agent",
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"-e", "SSH_AUTH_SOCK=/ssh-agent",
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"-e", "DISPLAY=${localEnv:DISPLAY}",
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"-e", "LIBGL_ALWAYS_SOFTWARE=1",
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"-e", "QT_XCB_GL_INTEGRATION=none",
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"-v", "/tmp/.X11-unix:/tmp/.X11-unix:rw"
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],
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"containerEnv": {
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"QT_X11_NO_MITSHM": "1",
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"QT_QPA_PLATFORM": "xcb",
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"DISPLAY": "${localEnv:DISPLAY}",
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"SSH_AUTH_SOCK": "/ssh-agent",
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"LIBGL_ALWAYS_SOFTWARE": "1",
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"QT_XCB_GL_INTEGRATION": "none",
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"TERM": "xterm-256color"
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},
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"remoteUser": "vscode",
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"postStartCommand": "xhost +local:vscode || true",
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"forwardPorts": [5000, 9000, 9090],
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"portsAttributes": {
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"9000": { "label": "MCP Server", "onAutoForward": "ignore" },
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"9090": { "label": "ROSBridge", "onAutoForward": "ignore" }
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},
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-python.python",
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"ms-azuretools.vscode-docker",
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"twxs.cmake",
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"ms-vscode.cpptools",
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"ms-python.vscode-pylance",
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"astral-sh.ruff"
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],
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash"
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}
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}
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}
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}

‎README.md‎

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![Static Badge](https://img.shields.io/badge/ROS2-Available-green)
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![Static Badge](https://img.shields.io/badge/License-Apache%202.0-blue)
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![Python](https://img.shields.io/badge/python-3.10%2B-blue)
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![Dev Container](https://img.shields.io/badge/Dev-Container%20Ready-blue)
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![GitHub Repo stars](https://img.shields.io/github/stars/robotmcp/ros-mcp-server?style=social)
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![GitHub last commit](https://img.shields.io/github/last-commit/robotmcp/ros-mcp-server)
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‎config/mcp.json‎

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{
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"mcpServers": {
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"ros-mcp-server-http": {
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"name": "ROS-MCP Server (http)",
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"transport": "http",
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"url": "http://127.0.0.1:9000/mcp"
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},
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"ros-mcp-server-stdio-linux": {
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"name": "ROS-MCP Server (stdio)",
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"transport": "stdio",
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"command": "uv",
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"args": [
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"--directory",
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"/home/<YOUR_USER>/ros-mcp-server",
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"run",
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"server.py"
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]
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},
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"ros-mcp-server-stdio-wsl": {
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"name": "ROS-MCP Server (stdio)",
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"transport": "stdio",
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"command": "wsl",
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"args": [
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"-d", "Ubuntu",
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"/home/<YOUR_USER>/.local/bin/uv",
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"--directory",
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"/home/<YOUR_USER>/ros-mcp-server",
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"run",
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"server.py"
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]
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}
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}
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}

‎docs/contributing.md‎

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1. **Fork the repository:** Click the "Fork" button in the top right corner of the GitHub page.
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2. **Create a new branch:** Create a separate branch for your changes to keep them isolated from the main project.
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2. **Create a new branch:** Create a separate branch for your changes to keep them isolated from the main project.
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```bash
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git checkout -b "your_branch_name"
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```
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3. **Make your changes:** Edit files with your additions or corrections. Please follow the existing format and style. When adding a new function, make sure to include:
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3. **Make your changes:** Edit files with your additions or corrections. Please follow the existing format and style guidelines. When adding a new function, make sure to include:
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* The function name and format.
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* A brief description of the function's functionality.
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---
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## Optional: Using Devcontainer
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The devcontainer provides a stable testing platform with ROS2 humble pre-installed as well as an environment to test the MCP server in http transport. (stdio transport is not compatible with the devcontainer)
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1. Install [VSCode](https://code.visualstudio.com/) and the **Remote - Containers** extension.
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2. Open the `ros-mcp-server` repository in VSCode.
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3. When prompted, **reopen in container**.
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- The container includes ROS2 Humble, Python 3.10+, `ruff`, `pre-commit`, `uv`, and `git`.
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- The repository is mounted at `/root/workspace`.
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- **Note for GUI apps** (`turtlesim`, `rviz`, `Gazebo`):
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Ensure the container can access your host X server by running the following command once on the host:
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<details>
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<summary> Ubuntu host </summary>
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```bash
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sudo apt install x11-xserver-utils # if xhost is not installed
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xhost +local:root # allow container user access
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```
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</details>
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<details>
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<summary> Windows WSL2 host </summary>
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```bash
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export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0
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export QT_X11_NO_MITSHM=1
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xhost +local:root
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```
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</details>
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4. You can now control the Turtlesim robot following **Step-2** and **Step-4** from the [installation guide](installation.md).
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5. Initialize pre-commit hooks (optional but recommended):
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```bash
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pre-commit install
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pre-commit run --all-files
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```
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6. Check Python code formatting with `ruff`
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```bash
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ruff check .
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ruff format --check .
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```
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<details>
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<summary>SSH Agent Setup for Git (click to expand)</summary>
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This should be run on the host side prior to building the devcontainer.
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```bash
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# Start the SSH agent
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eval "$(ssh-agent -s)"
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# List keys currently loaded
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ssh-add -l
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```
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If it says “The agent has no identities”, you must load your key, for example:
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```bash
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ssh-add ~/.ssh/id_ed25519
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ssh-add -l # confirm fingerprint shows up
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```
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</details>
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**Note:** This setup has been tested and verified on Ubuntu.
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## License
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This project is licensed under the **Apache License 2.0**. By contributing to this project, you agree that your contributions will be licensed under the same license.

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