AI agents call list_ros2_actions to retrieve information from ROS MCP without modifying anything — typically the context-gathering step in research, monitoring, and reporting workflows, before the agent takes action elsewhere.
This tool retrieves metadata about available actions in a ROS 2 system without modifying state, executing operations, or triggering robot behaviors. It is a read-only information query similar to 'find_ros2_package', 'get_ros2_node_info', and 'get_topic_info' on the same server. Misuse risk is minimal—an agent cannot cause harm by merely listing actions.
From the tool's definition Tool name 'list_ros2_actions' and description 'Lists available ROS 2 actions' indicate a query/retrieval operation with no side effects. The verb 'lists' and the passive scope ('available') confirm this is introspection only.
Documented attack patterns abuse exactly the kind of access list_ros2_actions gives an agent:
PolicyLayer is an MCP gateway — it sits between your AI agents and ROS MCP, and nothing reaches the server without passing your rules. This is the rule we recommend for list_ros2_actions:
{
"version": "1",
"default": "deny",
"tools": {
"list_ros2_actions": {}
}
}list_ros2_actions is read-only, so it stays allowed — but everything else on the server is denied unless you say otherwise.
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Lists available ROS 2 actions. It is categorised as a Read tool in the ROS MCP MCP Server, which means it retrieves data without modifying state.
Register the ROS MCP server in PolicyLayer and add a rule for list_ros2_actions: 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 MCP. Nothing to install.
list_ros2_actions 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 list_ros2_actions 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 list_ros2_actions. 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.
list_ros2_actions is provided by the ROS MCP server (yutarop/ros-mcp). PolicyLayer sits as a proxy in front of this server to enforce policies before tool calls reach the server.
Deterministic rules across all 24 ROS MCP tools. Per-identity grants. Full audit log. Live in minutes. Nothing to install.
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24 ROS MCP tools catalogued and risk-classified — across an index of 42,500+ MCP servers.