ros_subscribe_once
AI agents call ros_subscribe_once to retrieve information from ROS1 Noetic MCP Server without modifying anything — typically the context-gathering step in research, monitoring, and reporting workflows, before the agent takes action elsewhere.
Subscribing to a ROS topic is a read operation — it receives/queries data published on a topic without modifying state. The 'once' suffix implies it captures a single message. Severity is medium because in a robotic context, reading sensor or state data from a live system can expose sensitive operational information, though no side effects are expected. Confidence is lowered due to the empty description.
From the tool's definition Tool name 'ros_subscribe_once' suggests subscribing to a ROS topic to receive a single message, consistent with sibling tools like 'ros_echo_topic' which read topic data.
Attacks that exploit this kind of access
ros_subscribe_once. It is categorised as a Read tool in the ROS1 Noetic MCP Server MCP Server, which means it retrieves data without modifying state.
Register the ROS1 Noetic MCP Server MCP server in PolicyLayer and add a rule for ros_subscribe_once: allow, deny, rate-limit, or require approval. Point your MCP client at the PolicyLayer proxy URL and the rule is enforced on every call, before it reaches ROS1 Noetic MCP Server. Nothing to install.
ros_subscribe_once is a Read tool with low risk. Read-only tools are generally safe to allow by default.
Yes. Add a rate_limit block to the ros_subscribe_once rule in your PolicyLayer policy. For example, setting max: 10 and window: 60 limits the tool to 10 calls per minute. Rate limits are tracked per agent session and reset automatically.
Set action: deny in the PolicyLayer policy for ros_subscribe_once. The AI agent will receive a policy violation error and cannot call the tool. You can also include a reason field to explain why the tool is blocked.
ros_subscribe_once is provided by the ROS1 Noetic MCP Server MCP server (lopisan/ros-mcp). PolicyLayer sits as a proxy in front of this server to enforce policies before tool calls reach the server.
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