Bugfix: adding check on missing rosapi services to avoid crashes in older versions #182
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rjohn-v
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Oct 31, 2025
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stex2005
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Nov 5, 2025
* update the paths in the examples appropriately * Fix: Removed Optional for IP and PORT in connect_to_robot. This sometimes generates truncation, no need for optional as they are intrinsically optional. * Added ip and port information on config yaml file * Added turtlesim.yaml * ruff format fix * Added configuration file for local_rosbridge.yaml * trigger ruff check * Revert "Added ip and port information on config yaml file" This reverts commit 131fae4. * Removed ip/port * Add ROS 2 Parameters API (#135) * Added get_parameters set_param get_param etc. Inspect parameters missing. * Fixed inspect_all_parameters. Now tested with background color of turtlesim. * Fixed parameter type in inspect_all_parameters + added get_parameter_details * Added note that parameters are supported on ROS 2 only * Added get_actions tool * Added get_action_type tool * Added get_action_details and inspect_all_actions tools * Added send_action_goal, non-blocking, no feedback or result. * Fixed send_action_goal to: - Be blocking and waiting for action_result or timeout. - Return action_result when action is completed. - Return the last action_feedback, if available, when timeout. - Return timeout/success:false if no action_feedback or action_result is detected. - Fixed bug with timeout input tools (no Optional) * Added cancel_action_goal. Non-blocking. No response is available. Tested with fibonacci server. * Added note for ROS 2 support only. * Added get_action_status tool * Modified get_action_status to work with action_name and not action_type * Added action_feedback through ctx.report_progress. Tested and working in Cursor, not showing in ChatGPT. * Refactor: replace Optional with union syntax (Type | None) (#143) - Remove Optional imports and usage - Update server.py and websocket_manager.py * Add ROS 2 Launch System (#138) * Created ROS2 launch files for rosbridge and turtlesim demo, removed manual launch_ros.sh + Added docs on launch system * Modified documentation * Improved launch_mcp_tunnel to include default options for port and domain. * Moved robot specifications folder to root * updated Manifest and pyproject to point to correct locations * Type hint fix in server.py from previous PR on ros actions * updated config_utils to access specification files using Path * updated tool names and descriptions for getting robot spec * updated name of get verified robots list based on issue feedback * Fixed inconsistent tool names of topic subscribers and publishers, solving #141 * Modify WSL installation documents (#169) docs: add WSL path best practices to prevent common issues - Add warnings to recommend using /home/username/ instead of /mnt/c/Users/username/ - Fix incorrect path labeling - Add explanatory comment to config/mcp.json template - Closes #102 * Cleared naming convention and removed optional scaffolding to state spec file directory explicitly (YAGNI principle) * changed print statements from stdout to stderr for errors * ruff * Bump version to v2.1.7 * Update version to v2.1.7 in server.json and uv.lock * Pipx install documentation for users (#178) * Update installation documentation for pip install support - Replace cloning/UV setup with pipx as primary installation method - Add pip as alternative installation option - Update MCP client configurations to use ros-mcp command - Simplify JSON configurations for all platforms (Ubuntu, macOS, WSL) - Create separate installation-from-source.md for developers - Remove duplicate content and link back to main guide - Update HTTP transport commands to use ros-mcp - Improve documentation structure and user experience * Move pipx benefits into advanced dropdown for cleaner main flow * Improve installation documentation based on reviewer feedback - Fix debug commands in 6.2 to use ros-mcp instead of uv run server.py for pipx installation consistency - Remove collapsible sections in section 5 to improve visibility of LLM client options - Move 'If you're still having issues' from 6.3 into 6.1 for better organization - Split debug commands into separate, organized code blocks - Wrap debug commands and 'Why pipx?' sections in collapsible details blocks - Update section numbering and structure for better navigation * Further improve installation documentation organization - Move installation commands before 'Why pipx?' section for better flow - Wrap section 5 (Alternate Clients) in collapsible details block - Add descriptive text to section 6.1 Common Issues - Convert debug command headings to plain text for cleaner appearance - Improve overall document structure and readability * Add Option C: Install from source using pipx - Add new installation option for developers who want source access with pipx isolation - Include step-by-step commands to clone repository and install with pipx install . - Add note that regular pip install . also works for source installation - Provide more flexibility for different developer preferences and environments * Update installation documentation - Additional improvements to installation guide structure and content * Fix: make image analysis work with any topic containing image data (#144) * Bugfix: make image analysis work with any topic containing image data - Remove "Image" in topic name requirement - Add content-based image detection using "data" field - Update tool descriptions for clarity * Add optional expects_image parameter with robust image detection Includes is_image_like() helper that checks image-specific fields to distinguish images from pointclouds etc. * Track image parsing state and exclude data field * Add was_parsed_as_image tracking to accurately report whether image parsing occurred. Filter out large 'data' field from image responses since image is already saved to disk for analysis. * Create a centralized parse_input() function in websocket_manager.py that encapsulates all parsing logic with expects_image hint handling. * Refactor the request method in WebSocketManager to use parse_input. This will also allow service responses to handle image data if a service returns image data: * Removed Union/Optional and using a string instead. Union/Optional are highly bugged in fastmcp. * Added recognition for jpeg/compressed formats + restructure image analysis process. * Added launch file for realsense example + cleaned up the README.md * Updated pip minimum version + added pip badge (#180) * Bugfix: adding check on missing rosapi services to avoid crashes in older versions (#182) * Check rosapi required services for action-related tools and throw error/warning if not available (applies to ROS 1 or ROS 2 Humble) * Improved return messages for action-related tools when required services are not compatible * Update version to v2.2.0 --------- Co-authored-by: Jungsoo Lee <dlwjdtn7083@gmail.com> Co-authored-by: Stefano Dalla Gasperina <stefano.dallagasperina@austin.utexas.edu>
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Closes #181
Should be tested with
get_action_detailstool on[ ] ROS 2 Jazzy - should respond correctly
[ ] ROS 2 Humble - should raise compatibility issue
[ ] ROS 1 - should raise compatibility issue
In general, for any version older than ROS 2 Jazzy the MCP should gracefully inform compatibility issue rather than crash.
Ready for Review