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ROS MCP ​

Overview ​

OpenMowerNext can expose the running ROS graph to OpenCode through robotmcp/ros-mcp-server. The project configuration starts ros-mcp as an MCP stdio server, and ros-mcp talks to ROS through rosbridge on localhost:9090.

The default setup is localhost-only. Keep it that way for normal development on the machine running ROS.

Install dependencies ​

Install the ROS side:

bash
make deps

If rosbridge_server is still missing, install it directly:

bash
make rosbridge-deps

Install uv for the OpenCode MCP command if uvx is not already available:

bash
curl -LsSf https://astral.sh/uv/install.sh | sh

Restart your shell after installing uv, or ensure the uvx binary directory is on PATH before starting OpenCode.

Run rosbridge ​

For foreground development:

bash
make rosbridge

This runs ros2 launch rosbridge_server rosbridge_websocket_launch.xml after sourcing ROS 2 Jazzy and the workspace install if it exists.

For a persistent user service:

bash
make rosbridge-service-enable

Useful service commands:

bash
make rosbridge-service-status
make rosbridge-service-logs
make rosbridge-service-restart
make rosbridge-service-disable

The service binds to 127.0.0.1:9090 by default. Override the bind address only on a trusted network or over a VPN:

bash
make ROSBRIDGE_ADDRESS=0.0.0.0 rosbridge-service-enable

If OpenCode runs on another machine, prefer an SSH tunnel instead of exposing rosbridge on the LAN:

bash
ssh -L 9090:127.0.0.1:9090 <dev-host>

OpenCode MCP ​

The project opencode.json configures:

json
{
  "mcp": {
    "ros-mcp": {
      "type": "local",
      "command": ["uvx", "ros-mcp", "--transport=stdio"]
    }
  }
}

OpenCode reads this file only when it starts. Quit and restart OpenCode after changing the config or after installing uv.

Once OpenCode is restarted and rosbridge is running, ask it to connect to the robot on localhost and inspect topics or services.