remote-ros-mcp 0.1.0__tar.gz

remote_ros_mcp-0.1.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  lint-and-typecheck:
+    name: Lint & Typecheck
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      - name: Set up Python
+        run: uv python install 3.12
+
+      - name: Install dependencies
+        run: uv sync --all-extras
+
+      - name: Check code formatting (ruff)
+        run: uv run ruff format --check .
+
+      - name: Lint code (ruff)
+        run: uv run ruff check .
+
+      - name: Type check (mypy)
+        run: uv run mypy src
+
+  test:
+    name: Run Test Suite
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      - name: Set up Python
+        run: uv python install 3.12
+
+      - name: Install dependencies
+        run: uv sync --all-extras
+
+      - name: Run pytest with coverage
+        run: uv run pytest -v --cov=remote_ros_mcp --cov-report=term-missing
+
+  build-check:
+    name: Build Distribution Check
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      - name: Set up Python
+        run: uv python install 3.12
+
+      - name: Build distributions
+        run: uv build

remote_ros_mcp-0.1.0/.github/workflows/release.yml

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+name: Release & Publish to PyPI
+
+on:
+  push:
+    tags:
+      - 'v*'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: false
+
+permissions:
+  contents: read
+
+jobs:
+  test-and-build:
+    name: Test & Build Package
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+
+      - name: Set up Python
+        run: uv python install 3.12
+
+      - name: Install dependencies
+        run: uv sync --all-extras
+
+      - name: Run lint & typecheck
+        run: |
+          uv run ruff check .
+          uv run ruff format --check .
+          uv run mypy src
+
+      - name: Run test suite
+        run: uv run pytest -v
+
+      - name: Build distributions
+        run: uv build
+
+      - name: Upload distribution artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/
+          if-no-files-found: error
+          retention-days: 5
+
+  publish-to-pypi:
+    name: Publish to PyPI (Trusted Publisher)
+    needs: [test-and-build]
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/remote-ros-mcp
+    permissions:
+      id-token: write  # Mandatory for PyPI Trusted Publishing (OIDC)
+
+    steps:
+      - name: Download distribution artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+
+  github-release:
+    name: Create GitHub Release
+    needs: [publish-to-pypi]
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write  # Required for creating releases and uploading assets
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Download distribution artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+      - name: Create GitHub Release
+        uses: softprops/action-gh-release@v2
+        with:
+          files: dist/*
+          generate_release_notes: true

remote_ros_mcp-0.1.0/.gitignore

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+# Created by https://www.toptal.com/developers/gitignore/api/linux,macos,python,visualstudiocode,windows
+# Edit at https://www.toptal.com/developers/gitignore?templates=linux,macos,python,visualstudiocode,windows
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
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+# KDE directory preferences
+.directory
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+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
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+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
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+dist/
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+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+### Python Patch ###
+# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
+poetry.toml
+
+# ruff
+.ruff_cache/
+
+# LSP config files
+pyrightconfig.json
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+Thumbs.db:encryptable
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# End of https://www.toptal.com/developers/gitignore/api/linux,macos,python,visualstudiocode,windows
+
+# IDEs & Editors
+.idea/
+*.swp
+*.swo
+

remote_ros_mcp-0.1.0/.python-version

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+3.12

remote_ros_mcp-0.1.0/AGENTS.md

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+# AGENTS.md
+
+Welcome! This document provides technical guidelines and developer protocols for AI agents and human contributors working on `remote-ros-mcp`.
+
+---
+
+## 1. Project Mission & Architecture
+
+`remote-ros-mcp` is a production-grade **Model Context Protocol (MCP)** server designed to empower LLM coding agents working on ROS2 robotics systems. It bridges between LLM development environments and a remote robot running `wrosbridge` (C++17/ROS2 Jazzy gRPC Gateway).
+
+### Key Architectural Tenets
+1. **Separation of Concerns**:
+   - `grpc_client`: Clean gRPC transport layer communicating with `wrosbridge.v1` Protobuf services.
+   - `codecs`: Robust bidirectional CDR (Common Data Representation) <-> Python Dict/JSON serialization.
+   - `mcp_server`: FastMCP tools and resource endpoints consumed by AI agents.
+   - `testing`: Dedicated assertion, mocking, frequency measurement, and inspection toolsets.
+   - `cli`: Standalone CLI for diagnostics and verification without an MCP host.
+2. **Zero-Local-ROS2 Dependency**:
+   - The MCP host environment does NOT require ROS2 (rclpy/rclcpp) installed locally. All communication is pure gRPC over TCP with optional TLS and API Key authentication.
+3. **LLM-Friendly Interfaces**:
+   - No raw bytes exposed to LLM prompts unless requested. All payloads are parsed into standard JSON objects.
+   - Timeouts, cancellations, and long-running streaming operations are wrapped in safe request-response or sampling semantics.
+
+---
+
+## 2. Directory Layout
+
+```text
+remote-ros-mcp/
+├── AGENTS.md                  # Developer & Agent guidelines
+├── pyproject.toml             # uv & project dependencies
+├── README.md / README_KO.md   # Documentation
+├── CHANGELOG.md               # Semantic versioning change log
+├── proto/                     # wrosbridge Protobuf definitions
+│   └── wrosbridge/v1/
+├── scripts/
+│   └── generate_protos.py     # Script to generate Python gRPC stubs
+├── src/
+│   └── remote_ros_mcp/
+│       ├── __init__.py
+│       ├── cli.py             # CLI entrypoint
+│       ├── config.py          # Environment & connection settings
+│       ├── proto/             # Compiled protobuf stubs (wrosbridge_pb2)
+│       ├── codecs/            # ROS2 CDR <-> JSON encoders/decoders
+│       │   ├── base.py
+│       │   ├── standard.py    # std_msgs, geometry_msgs, sensor_msgs, etc.
+│       │   └── registry.py
+│       ├── client/            # wrosbridge gRPC client wrappers
+│       │   ├── client.py
+│       │   ├── health.py
+│       │   ├── admin.py
+│       │   ├── topic.py
+│       │   ├── service.py
+│       │   └── action.py
+│       ├── server/            # FastMCP server definition & tools
+│       │   ├── app.py
+│       │   ├── tools_graph.py
+│       │   ├── tools_data.py
+│       │   ├── tools_action.py
+│       │   └── tools_test.py  # Verification & test tools
+│       └── utils/
+│           ├── errors.py
+│           └── ring_buffer.py
+└── tests/
+    ├── conftest.py
+    ├── mock_server.py         # Mock wrosbridge gRPC server for testing
+    ├── test_codecs.py
+    ├── test_client.py
+    ├── test_tools.py
+    ├── test_verification.py
+    └── test_cli.py
+```
+
+---
+
+## 3. TDD & Testing Protocols
+
+1. **Test-First Discipline**:
+   - Every tool, codec, and client method must have comprehensive unit tests.
+   - Use `tests/mock_server.py` to simulate all `wrosbridge.v1` gRPC endpoints (`Health`, `AdminService`, `TopicService`, `ServiceService`, `ActionService`).
+   - Run tests via `uv run pytest` before committing or finalizing any feature.
+2. **Deterministic & Fast**:
+   - Do NOT depend on a live robot or network connectivity for unit tests. All tests must pass in an isolated CI/offline environment.
+3. **Coverage & Edge Cases**:
+   - Test invalid payloads, unsupported message types, timeout expirations, connection cancellations, and malformed inputs.
+
+---
+
+## 4. Code Quality & Standards
+
+1. **Linting & Formatting**:
+   - Code must format cleanly with `ruff check .` and `ruff format .`.
+   - Maintain static typing consistency with `mypy src`.
+2. **Comment & Documentation Hygiene**:
+   - Comments must be concise and explain *why*, not *what*.
+   - Never leave agent monologues, debugging breadcrumbs, or unmaintained comments in the codebase.
+   - Keep docstrings compliant with Google Python style.
+3. **CLI Design Guidelines (`clig.dev`)**:
+   - Output clean machine-readable data to `stdout` (support `--json`).
+   - Route diagnostic logs and progress indicators strictly to `stderr`.
+   - Use non-zero exit codes for failures: `0` (Success), `1` (General error), `2` (Invalid argument / configuration).
+   - Ensure non-interactive safe execution (`--no-input`).
+
+---
+
+## 5. Security & Error Handling
+
+1. **Never Log Sensitive Credentials**:
+   - Do not print API keys or token strings in logs or stdout.
+2. **Standardized Error Responses**:
+   - Follow standard gRPC status mapping and clear error messages with actionable hints for LLM agents.
+   - Catch network errors and wrap them in friendly `BridgeConnectionError`, `CodecError`, or `ServiceUnavailableError`.

remote_ros_mcp-0.1.0/CHANGELOG.md

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+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.1.0] - 2026-09-20
+
+### Added
+- **Ecosystem Integration (`wpycli`, `wpyconf`, `wpylog`)**:
+  - Replaced ad-hoc CLI/config with the `wpy` library suite.
+  - **`wpycli`**: Clean command hierarchy, flag sets, terminal styling, and stdout/stderr separation.
+  - **`wpyconf` (`wconfig`)**: Multi-source configuration layering and platform user config directories.
+  - **`wpylog` (`wlogger`)**: Unified structured logging for runtime diagnostics.
+- **Command Alias `rrmcp`**: Added `rrmcp` entrypoint alias in `pyproject.toml` for fast invocation (`uv run rrmcp ...`).
+- **Comprehensive `.gitignore` Generated via `iggen`**: Standardized multi-platform rules for Linux, macOS, Windows, Python, and VS Code.
+- **Configuration File Management (`remote-ros-mcp config`)**:
+  - Platform-standard configuration directory resolution (XDG on Linux, Application Support on macOS, AppData on Windows).
+  - Subcommands: `init` (create default file), `path` (print location), `show` (display active/file config with `--json`), `set` (modify and type-cast settings).
+  - Layered configuration hierarchy: `CLI Flags > Environment Variables > config.json > Defaults`.
+- **MCP Server Core**: FastMCP-based standard Model Context Protocol server exposing ROS2 robotics endpoints via stdio transport.
+- **wrosbridge gRPC Gateway Integration**:
+  - Full client support for `Health`, `AdminService`, `TopicService`, `ServiceService`, and `ActionService`.
+  - Secure transport via optional TLS and API Key header (`x-api-key`) authentication.
+- **Bidirectional ROS2 CDR Codec Engine**:
+  - Low-level `CDRWriter` and `CDRReader` supporting Little-Endian CDR serialization.
+  - Native standard codecs for `std_msgs` (String, Bool, Int32/64, Float32/64), `geometry_msgs` (Twist, Vector3, Point, Pose, Quaternion), `std_srvs` (SetBool, Trigger), and `example_interfaces` (AddTwoInts).
+  - Robust `FallbackCodec` for arbitrary payloads and schema-less message handling.
+- **Graph & Introspection Tools**:
+  - `ros2_health_check`: Verify remote gateway status.
+  - `ros2_get_nodes`: Discover active ROS2 nodes, namespaces, pub/sub topics, and services.
+  - `ros2_get_topics`: Discover topic list and publisher/subscriber mapping.
+  - `ros2_get_services`: List available services.
+  - `ros2_get_parameters` / `ros2_set_parameters`: Real-time node parameter management.
+  - `ros2_lookup_tf`: Geometric coordinate transformation lookup between reference frames.
+- **Data Exchange Tools**:
+  - `ros2_topic_publish`: Publish JSON payloads directly to ROS2 topics.
+  - `ros2_topic_echo`: Sample recent N messages or listen to live topic streams.
+  - `ros2_call_service`: Synchronously invoke ROS2 services with timeout protection.
+  - `ros2_action_send_goal`: Asynchronous goal dispatch and automated completion waiting for ROS2 Actions.
+  - `ros2_action_cancel_goal`: Cancel executing action goals.
+- **Testing & Verification Suite**:
+  - `ros2_assert_topic_published`: Python condition-based topic publication assertion for automated code validation.
+  - `ros2_measure_topic_hz`: Publishing frequency (Hz), average period, and jitter measurements.
+  - `ros2_mock_publish_sequence`: Sequence injector to stimulate and verify subscriber node behavior.
+  - `ros2_record_and_inspect`: Topic data recorder and preview summarizer.
+- **MCP Resources**:
+  - `ros2://health`: Gateway connection and serving status.
+  - `ros2://graph/nodes`: Live ROS2 graph nodes.
+  - `ros2://graph/topics`: Live ROS2 topic list.
+- **CLI Utility**:
+  - `remote-ros-mcp run`: Launch MCP stdio server.
+  - `remote-ros-mcp test-connection`: Standalone health & connection diagnostics (`--json` supported).
+  - `remote-ros-mcp inspect`: Standalone node, topic, and service discovery (`--json` supported).
+- **Testing Infrastructure**:
+  - In-memory `MockWrosbridgeServer` enabling 100% offline, deterministic TDD test suite.

remote_ros_mcp-0.1.0/LICENSE

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+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   Copyright 2026 Robotics & AI Team
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.