MCAP MCP Server
Query your robot's MCAP recordings with SQL — straight from your LLM.
Setup
{
"mcpServers": {
"mcap-query": {
"command": "uvx",
"args": ["mcap-mcp-server[all]"]
}
}
}
No install, no database, no API keys. Requires uv.
Usage
Just talk to your LLM:
- "Tell me what topics are in session_003.mcap"
- "In session_017.mcap find all moments where voltage dropped below 22V"
- "Correlate IMU acceleration with motor current."
- "Compare average battery voltage across my last 5 runs"
- "What version of mcap-mcp-server am I running? Update it"
Tools
Project documentation — configuration, Docker, development setup, and architecture.
Example SQL (under the hood)
-- Time-windowed stats
SELECT (timestamp_us / 1000000) as second,
AVG(voltage) as avg_v, MIN(voltage) as min_v
FROM battery GROUP BY second ORDER BY second
-- Cross-sensor correlation via ASOF JOIN
SELECT b.timestamp_us, b.voltage, i.linear_acceleration_x
FROM battery b ASOF JOIN imu i ON b.timestamp_us >= i.timestamp_us
-- Multi-recording comparison
SELECT 'run1' as run, AVG(voltage) FROM r1_battery
UNION ALL
SELECT 'run2', AVG(voltage) FROM r2_battery
Performance
Metadata tools (list_recordings, get_recording_info, get_schema) return in < 1 ms regardless of file size. SQL queries execute in 1–20 ms once data is loaded. The one-time load_recording cost scales with file size:
Measured on Apple M4 with JSON-encoded messages, 5 fields per message. Query times are median across aggregation, filter, and window function queries. Memory is the DuckDB in-memory footprint (default budget: 2 GB).
Tip: use
topicsandstart_time/end_timefilters onload_recordingto load only what you need.
Update
uvx mcap-mcp-server[all] --upgrade
Or ask your LLM — the get_version tool returns the running version and the upgrade command.
License
GNU General Public License v3.0 — see LICENSE.