I've been experimenting with ROS (Robot Operating System) and the Model Context Protocol (MCP), and noticed a gap: while there were some MCP servers for ROS, most were limited. They either only supported topic communication or had hard-coded topic names, which severely limited their reusability.

To address this, I built a general-purpose MCP server for ROS that allows interaction with ROS topics, services, and actions -making it more flexible and extensible than previous approaches.

A key design decision was enabling communication between the MCP server and a local ROS machine by simply exporting the ROS_DOMAIN_ID via the claude_desktop_config.json file. This small trick made it possible to bridge the gap between local nodes and the MCP server.

Github: https://github.com/Yutarop/ros-mcp

Would love feedback or suggestions!