request_plan_segment · Ros MCP: Risk & Policy

WHAT IT DOES

What request_plan_segment does on Ros

AI agents invoke request_plan_segment to trigger actions in Ros. 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 request_plan_segment needs a policy

The tool dispatches a planning request to a physical AMR system and waits for a response, triggering external robot operations. This is an Execute-category action because it initiates real-world robot behavior. Severity is high because misuse could cause a physical robot to plan and potentially execute unintended navigation segments, posing safety risks.

From the tool's definition 'Dispatch a plan_segment request and wait for the response' — triggers an external operation on an Autonomous Mobile Robot via MQTT

Attacks that exploit this kind of access

Recommended rule Ready

Verdict

request_plan_segment Rate-limited

request_plan_segment 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": {
    "request_plan_segment": {
      "limits": [
        {
          "counter": "request_plan_segment_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, so you can run agents against it safely.

FAQ

Questions about request_plan_segment

What does the request_plan_segment tool do? +

Dispatch a plan_segment request and wait for the response. It is categorised as a Execute tool in the Ros MCP Server, which means it can trigger actions or run processes. Use rate limits and argument validation.

How do I enforce a policy on request_plan_segment? +

Register the Ros MCP server in PolicyLayer and add a rule for request_plan_segment: 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. Nothing to install.

What risk level is request_plan_segment? +

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

Can I rate-limit request_plan_segment? +

Yes. Add a rate_limit block to the request_plan_segment 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 request_plan_segment completely? +

Set action: deny in the PolicyLayer policy for request_plan_segment. 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 request_plan_segment? +

request_plan_segment is provided by the Ros MCP server (reidlo5135/ros-mcp-server). PolicyLayer sits as a proxy in front of this server to enforce policies before tool calls reach the server.