Borrowing it
Nothing to install: this file belongs to jonasneves/ros-mcp. Take a copy, put it at the same path in your own repository, and replace the rules that are about this project with yours.
curl -O https://raw.githubusercontent.com/jonasneves/ros-mcp/main/CLAUDE.mdgit clone --depth 1 https://github.com/jonasneves/ros-mcpWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/instructions/jonasneves/ros-mcp/claude-md)<a href="https://agentmods.dev/instructions/jonasneves/ros-mcp/claude-md"><img src="https://agentmods.dev/badge/instructions/jonasneves/ros-mcp/claude-md.svg" alt="Measured on agentmods" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.01055 | $0.01055 |
| Opus 5 | $0.00528 | $0.00528 |
| Sonnet 5 | $0.00211 | $0.00211 |
| Haiku 4.5 | $0.00105 | $0.00105 |
Grade A, and why
ros-mcp CLAUDE.md scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 8d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 66 lines — stays where its author put it; the contents beside it link to each section on GitHub.
ROS MCP Server
Commands
- Run server:
uv run server.py - Add to Claude (local):
make configure
Architecture
Tools are registered in src/ros_mcp/tools/ and wired up in src/ros_mcp/server.py. Each tool file owns one domain (topics, services, nodes, etc.). New tools go in the relevant file and must be registered in server.py.
Tool conventions
readOnlyHint=Truefor read-only tools,destructiveHint=Truefor anything that publishes or mutates state- Tool descriptions must include units and a concrete example call
- Motion tools must send a zero-velocity stop command as their last action
- Use
turn_by_angle/move_by_distancefor rotation and straight-line motion — do not usepublish_for_durationsfor these; it requires the caller to computeduration = angle_rad / angular_velocityand is error-prone - When using
publish_for_durationsfor angular motion:duration = (angle_deg × π/180) / angular_velocity_rad_s
Simulator cmd_vel topics
The bundled setup runs 3 namespaced turtlesim instances (ts1, ts2, ts3):
| Instance | Topic | Message type |
|---|---|---|
| turtlesim1 | /ts1/turtle1/cmd_vel |
geometry_msgs/Twist |
| turtlesim2 | /ts2/turtle1/cmd_vel |
geometry_msgs/Twist |
| turtlesim3 | /ts3/turtle1/cmd_vel |
geometry_msgs/Twist |
Docker / DDS networking
All containers must use the same DDS middleware. The rosbridge container requires RMW_IMPLEMENTATION=rmw_cyclonedds_cpp in docker-compose.yml — without it, rosbridge defaults to FastDDS and cannot discover topics from the simulator containers (which use CycloneDDS via entrypoint.sh).
cyclonedds.xml is baked into images via COPY, so changes require docker compose build before --force-recreate.
Isaac Sim
Isaac Sim uses FastDDS (ROS 2 default). The turtlesim setup forces CycloneDDS on rosbridge — do not reuse that compose file for Isaac Sim.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 8d ago First seen · 66 lines · 1,055 tokens per session scan A a6d1080220cb
ros-mcp CLAUDE.md is an instructions file published in the GitHub repository jonasneves/ros-mcp (2 stars, last pushed 5d ago), licensed Apache-2.0. It adds 1,055 tokens to every session, about $0.0053 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-31.
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