// MCP TOOL REFERENCE

ROS MCP TOOLS

24 tools from the ROS MCP MCP Server, categorised by risk level.

// ALL 24 ROS MCP TOOLS

READ 12 tools

Read check_ros2_topic_hz Displays the publishing frequency (Hz) of a given ROS 2 topic. Read check_topic_status Checks whether a specific ROS2 topic is actively publishing messages. Read debug_ros2_environment Debug ROS 2 environment variables and setup. Read echo_ros2_topic Echo messages from a ROS2 topic for a specified number of messages. Read find_ros2_package Searches for available ROS 2 packages that match a given keyword. Read get_ros2_node_info Shows detailed information about a specific ROS 2 node. Read get_topic_info Get detailed information about a specific ROS2 topic. Read list_ros2_actions Lists available ROS 2 actions. Read list_ros2_nodes Lists currently running ROS 2 nodes. Read list_ros2_services Lists available ROS 2 services. Read list_topics Displays a list of currently accessible ROS2 topics. Read show_ros2_interface Shows the interface (definition) for a given ROS 2 message or service type.

DESTRUCTIVE 1 tools

Destructive clean_all_ros2_nodes Kills all currently running ROS 2 and Gazebo related processes to clean the environment.

EXECUTE 11 tools

Execute launch_gazebo Launch Gazebo simulation environment via WebSocket server. Execute launch_rqt_graph Launch rqt_graph GUI tool via WebSocket server. Execute launch_rviz Launch RViz2 GUI tool via WebSocket server. Execute launch_turtlebot3_empty_world Launch TurtleBot3 in empty world in Gazebo via WebSocket server. Execute launch_turtlebot3_world Launch TurtleBot3 world in Gazebo via WebSocket server. Execute launch_turtlesim Launch turtlesim GUI application via WebSocket server. Execute run_ros2_doctor Runs ros2 doctor to check ROS 2 environment setup and issues. Execute run_ros2_executable Runs a ROS 2 executable from a specified package. Execute call_ros2_service call_ros2_service Execute publish_ros2_topic publish_ros2_topic Execute send_ros2_action_goal send_ros2_action_goal

// FAQ

How many tools does the ROS MCP MCP server have? +

The ROS MCP MCP server exposes 24 tools across 3 categories: Read, Destructive, Execute.

How do I enforce policies on ROS MCP tools? +

Route the ROS MCP server through the PolicyLayer gateway. Define allow, deny, or approval rules per tool in the dashboard; they are enforced on every call before it reaches the server.

What risk categories do ROS MCP tools fall into? +

ROS MCP tools are categorised as Read (12), Destructive (1), Execute (11). Each category has a recommended default policy.

Enforce policy on every ROS MCP tool call.

Deterministic rules across all 24 ROS MCP tools. Per-identity grants. Full audit log. Live in minutes. Nothing to install.

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