Nav2

MCP server that provides tools and resources to control and monitor robots using Nav2.

1# Nav2

README.mdMCP server

Transport: stdio
Status: Local

Power your agent

Add this server

Install from the publisher. Not a PlugMCP endpoint.

Run on PlugMCP

Host a copy with our keys and logs.

No packaged release in the registry yet. Follow the repository README.

RepositoryPublisher installStep-by-step: add this in Claude

Remote URL or a command on your machine? How the two installs differ

Run on PlugMCP

Host a copy with our keys and logs.

A new server you create. It is not this listing's official endpoint. Use the publisher install when you want their URL and their credentials.

Launch

Server facts

Local

Transport: stdio
License: Apache-2.0
Last checked: 2026-10-28

Stars: 87
Tools: —
Uptime: —

Tools

No tool list yet. Remote servers get one after the first health check.

FAQ

Questions

How do I install Nav2?

Copy the stdio config for Cursor, Claude Desktop, Claude Code, or VS Code on this page. It uses the publisher's install, not a PlugMCP proxy.

Does Nav2 need an API key?

No required environment variable is listed on this record.

What transport does Nav2 use?

Nav2 runs locally over stdio.

When was Nav2 last checked?

Last checked 2026-10-28. MCP server that provides tools and resources to control and monitor robots using Nav2.

From the publisher

Documentation

Nav2 MCP Server

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"
  }
}

Nav2

ajtudela87starsClaim this server

MCP server that provides tools and resources to control and monitor robots using Nav2.

Install Run on PlugMCPClaim this server

GitHub

Run on PlugMCP

1# Nav2

README.mdMCP server

Transport: stdio
Status: Local

Power your agent

Add this server

Install from the publisher. Not a PlugMCP endpoint.

Run on PlugMCP

Host a copy with our keys and logs.

No packaged release in the registry yet. Follow the repository README.

RepositoryPublisher installStep-by-step: add this in Claude

Remote URL or a command on your machine? How the two installs differ

Run on PlugMCP

Host a copy with our keys and logs.

A new server you create. It is not this listing's official endpoint. Use the publisher install when you want their URL and their credentials.

Launch

Server facts

Local

Transport: stdio
License: Apache-2.0
Last checked: 2026-10-28

Stars: 87
Tools: —
Uptime: —

Tools

No tool list yet. Remote servers get one after the first health check.

FAQ

Questions

How do I install Nav2?

Copy the stdio config for Cursor, Claude Desktop, Claude Code, or VS Code on this page. It uses the publisher's install, not a PlugMCP proxy.

Does Nav2 need an API key?

No required environment variable is listed on this record.

What transport does Nav2 use?

Nav2 runs locally over stdio.

When was Nav2 last checked?

Last checked 2026-10-28. MCP server that provides tools and resources to control and monitor robots using Nav2.

From the publisher

Documentation

Nav2 MCP Server

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"
  }
}