send_action_goal · ROS 2 MCP Server MCP: Risk & Policy

WHAT IT DOES

What send_action_goal does on ROS 2 MCP Server

AI agents invoke send_action_goal to trigger actions in ROS 2 MCP Server. What it does depends on the arguments the agent supplies, and its effects often reach beyond the immediate call — builds kicked off, notifications sent, workflows started.

WHY IT NEEDS A POLICY

Why send_action_goal needs a policy

Sending a goal to a ROS 2 action server triggers external operations on a physical or simulated robot system (e.g., navigation, manipulation, actuation). The effects depend entirely on the goal arguments and can affect real-world hardware, making this an Execute-category tool with high severity due to the potential physical consequences of misuse.

From the tool's definition Send a goal to an action server

Attacks that exploit this kind of access

Recommended rule Ready

Verdict

send_action_goal Rate-limited

send_action_goal stays usable, but rate-capped — a runaway agent can't fire it dozens of times a minute. Everything else on the server is denied unless you say otherwise.

View as policy code

policy.json

{
  "version": "1",
  "default": "deny",
  "tools": {
    "send_action_goal": {
      "limits": [
        {
          "counter": "send_action_goal_rate",
          "window": "minute",
          "max": 10,
          "scope": "grant"
        }
      ]
    }
  }
}

RATE-LIMIT THIS TOOL →

Instant setup, no code required.

PolicyLayer is an MCP gateway: every tool call is checked against your rule before it reaches ROS 2 MCP Server, so you can run agents against it safely.

FAQ

Questions about send_action_goal

What does the send_action_goal tool do? +

Send a goal to an action server. It is categorised as a Execute tool in the ROS 2 MCP Server MCP Server, which means it can trigger actions or run processes. Use rate limits and argument validation.

How do I enforce a policy on send_action_goal? +

Register the ROS 2 MCP Server MCP server in PolicyLayer and add a rule for send_action_goal: 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 ROS 2 MCP Server. Nothing to install.

What risk level is send_action_goal? +

send_action_goal is a Execute tool with high risk. Execute tools should be rate-limited and have argument validation enabled.

Can I rate-limit send_action_goal? +

Yes. Add a rate_limit block to the send_action_goal 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.

How do I block send_action_goal completely? +

Set action: deny in the PolicyLayer policy for send_action_goal. 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.

What MCP server provides send_action_goal? +

send_action_goal is provided by the ROS 2 MCP Server MCP server (ranch-hand-robotics/rde-mcp-ros-2). PolicyLayer sits as a proxy in front of this server to enforce policies before tool calls reach the server.