How do I install Nav2 MCP Server?

No package has been published for this server, so install it from source: clone the repository and follow its README.

Is Nav2 MCP Server safe to use with an AI agent?

Its trust score is 71 out of 100 (good). It passes 5 of the 6 static security checks run so far; the failures are listed above. It has no ConduID identity yet, so agent calls to it are not receipted.

Is Nav2 MCP Server still maintained?

Yes — the last commit was 4 months ago. The repository has 87 stars and 25 forks and 1 open issues.

About Nav2 MCP Server

Nav2 MCP Server is an MCP server published by ajtudela in the Developer Tools category: mCP server that provides tools and resources to control and monitor robots using Nav2.

The repository has 87 stars and 25 forks, with the last commit 4 months ago. Recent commit activity is the strongest signal that reported issues will get attention.

Install

From source

git clone https://github.com/ajtudela/nav2_mcp_server

This server has no ConduID identity, so agent calls to it are not receipted. Pin the version you install and review the source before granting it credentials.

Tools (12)

**backup_robot**Move the robot backward by a specified distance

Parameters not published.

**cancel_navigation**Cancel the currently active navigation task

Parameters not published.

**clear_costmaps**Clear robot navigation costmaps to remove stale obstacle data

Parameters not published.

**dock_robot**Dock the robot to a charging station or dock

Parameters not published.

**follow_waypoints**Navigate the robot through a sequence of waypoints in order

Parameters not published.

**get_path**Compute a navigation path between two poses

Parameters not published.

**get_path_from_robot**Compute a navigation path from the robot's current pose to a goal pose

Parameters not published.

**get_robot_pose**Get the current position and orientation of the robot

Parameters not published.

**nav2_lifecycle**Control Nav2 lifecycle (startup or shutdown)

Parameters not published.

**navigate_to_pose**Navigate the robot to a specific pose (position and orientation) in the map frame

Parameters not published.

**spin_robot**Rotate the robot in place by a specified angle

Parameters not published.

**undock_robot**Undock the robot from a charging station or dock

Parameters not published.

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Security checks

Static checks derived from the repository 5 hours ago. Heuristics on the source, not an audit.

✓README presentThe repository ships documentation.
✓License declaredUsable under a stated license.
✓Tests presentA test suite exists in the repository.
✓Dependencies pinnedA lockfile pins dependency versions.
✓No dynamic code executionSource scan found no eval, dynamic Function, or shell execution.
!Scoped permissionsDoesn't declare a permission scope. Assume it can do anything its process can.

README

Nav2 MCP Server

License Python

An MCP (Model Context Protocol) server that provides tools and resources to control and monitor Nav2 navigation operations, allowing seamless integration with Nav2-enabled robots through the MCP protocol.

Demo of Nav2 MCP Server

Features

Navigation control: Navigate to specific poses, follow waypoint sequences, and execute precise robot movements
Real-time status: Monitor navigation progress, robot pose, and system status with comprehensive feedback
Costmap management: Clear stale obstacle data and manage navigation costmaps for optimal path planning
Lifecycle management: Control Nav2 system startup and shutdown for complete system control
ROS 2 integration: Full compatibility with Nav2 navigation stack and ROS 2 ecosystem
Async operations: Non-blocking navigation commands with progress monitoring and cancellation support

Tools

Tool	Description	Parameters
navigate_to_pose	Navigate the robot to a specific pose (position and orientation) in the map frame	`x: float, y: float, yaw: float`
follow_waypoints	Navigate the robot through a sequence of waypoints in order	`waypoints: str (JSON array)`
spin_robot	Rotate the robot in place by a specified angle	`angle: float`
backup_robot	Move the robot backward by a specified distance	`distance: float, speed: float`
dock_robot	Dock the robot to a charging station or dock	`x: float, y: float, yaw: float, dock_id: str, dock_type: str, nav_to_dock: bool`
undock_robot	Undock the robot from a charging station or dock	`dock_type: str`
clear_costmaps	Clear robot navigation costmaps to remove stale obstacle data	`costmap_type: str`
get_robot_pose	Get the current position and orientation of the robot	—
cancel_navigation	Cancel the currently active navigation task	—
nav2_lifecycle	Control Nav2 lifecycle (startup or shutdown)	`action: str`
get_path	Compute a navigation path between two poses	`start_x: float, start_y: float, start_yaw: float, goal_x: float, goal_y: float, goal_yaw: float, planner_id: str`
get_path_from_robot	Compute a navigation path from the robot's current pose to a goal pose	`goal_x: float, goal_y: float, goal_yaw: float, planner_id: str`

Environment Variables

Variable	Default	Description
`ROS_DOMAIN_ID`	—	ROS 2 domain ID for network isolation (recommended to set)
`ROS_LOCALHOST_ONLY`	—	Set to '1' to restrict ROS 2 communication to localhost only

Configuration

Environment Variables

Variable	Default	Description
`TRANSPORT_MODE`	`stdio`	Transport mode: `stdio` (local integration) or `http` (network)
`HTTP_HOST`	`0.0.0.0`	HTTP host binding (only used when `TRANSPORT_MODE=http`)
`HTTP_PORT`	`3001`	HTTP port (only used when `TRANSPORT_MODE=http`)
`LOG_LEVEL`	`INFO`	Logging level: `DEBUG`, `INFO`, `WARNING`, `ERROR`, `CRITICAL`
`ROS_DOMAIN_ID`	—	ROS 2 domain ID for network isolation (recommended)
`ROS_LOCALHOST_ONLY`	—	Set to '1' to restrict ROS 2 communication to localhost only

Setup

Copy the environment configuration template:

cp .env.example .env

Edit .env to customize settings:

# Transport mode: 'stdio' for local, 'http' for containerized/network
TRANSPORT_MODE=stdio

# HTTP settings (only needed if using http transport)
HTTP_HOST=0.0.0.0
HTTP_PORT=3001

# Logging
LOG_LEVEL=INFO

Installation

Dependencies

Robot Operating System (ROS) 2: Middleware for robotics (Jazzy)
fastmcp: MCP server framework
python: Python programming language
uv: Python package manager (optional)

Install with uv

Clone the repository and install with uv:

git clone https://github.com/ajtudela/nav2_mcp_server.git
cd nav2_mcp_server
# Set up ROS 2 environment variables if needed
export ROS_DOMAIN_ID=0
uv sync

Or install directly from the repository:

uv add git+https://github.com/ajtudela/nav2_mcp_server.git

Docker

Build the image

Build the image:

docker build -t nav2-mcp-server:latest .

Pull the image

Pull the latest image from the Docker registry:

docker pull ghcr.io/ajtudela/nav2_mcp_server:latest

Usage

Running with uv

uv run nav2_mcp_server

Configuration example for Claude Desktop/Cursor/VSCode

Add this configuration to your application's settings (mcp.json):

Using uv (stdio transport)

{
  "nav2 mcp server": {
    "type": "stdio",
    "command": "uv",
    "args": [
      "run",
      "--directory",
      "/path/to/nav2_mcp_server",
      "nav2-mcp-server"
    ],
    "env": {
      "ROS_DOMAIN_ID": "0",
      "ROS_LOCALHOST_ONLY": "1"
    }
  }
}

Using Docker (stdio transport)

"nav2 mcp server": {
    "type": "stdio",
    "command": "docker",
    "args": [
        "run",
        "-i",
        "--rm",
        "ghcr.io/ajtudela/nav2_mcp_server"
    ],
    "env": {
      "ROS_DOMAIN_ID": "0",
      "ROS_LOCALHOST_ONLY": "1"
    }
}

Using HTTP transport

"nav2 mcp server": {
  "type": "http",
  "url": "http://localhost:3001/mcp",
  "env": {
    "TRANSPORT_MODE": "http",
    "LOG_LEVEL": "INFO"
  }
}

Read full README

README fetched from the repository 5 hours ago. The original is authoritative.

About Nav2 MCP Server

Install

Tools (12)

Ask AI

Security checks

README

Nav2 MCP Server

Features

Tools

Environment Variables

Configuration

Environment Variables

Setup

Installation

Dependencies

Install with uv

Docker

Build the image

Pull the image

Usage

Running with uv

Configuration example for Claude Desktop/Cursor/VSCode

Using uv (stdio transport)

Using Docker (stdio transport)

Using HTTP transport

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