What is ros2_mcp AGENTS.md?

A set of project instructions for a Python MCP server that connects coding agents to ROS 2, a robotics software platform. It explains the code layout, setup, local startup, configuration, and tests.

Setting up the development environment, running the server over standard input or SSE, changing prompt settings, and running pytest tests for the ROS 2 server.

It gives the agent the project rules and commands it needs to work consistently. It also reduces guesswork about ROS 2 setup and where different parts of the server belong.

How wise-vision/ros2_mcp configures Codex and OpenCode

Reuse

Borrowing it

Nothing to install: this file belongs to wise-vision/ros2_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.

Copy the file

curl -O https://raw.githubusercontent.com/wise-vision/ros2_mcp/main/AGENTS.md

Clone the repo

git clone --depth 1 https://github.com/wise-vision/ros2_mcp

Made for: Codex, OpenCode.

Wrote 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.

README.md

[![agentmods](https://agentmods.dev/badge/instructions/wise-vision/ros2_mcp/agents-md/github.svg)](https://agentmods.dev/instructions/wise-vision/ros2_mcp/agents-md)

Your own site

<a href="https://agentmods.dev/instructions/wise-vision/ros2_mcp/agents-md"><img src="https://agentmods.dev/badge/instructions/wise-vision/ros2_mcp/agents-md/github.svg" alt="Measured on agentmods" height="20"></a>

Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.

Your own site · 80×15

<a href="https://agentmods.dev/instructions/wise-vision/ros2_mcp/agents-md"><img src="https://agentmods.dev/badge/instructions/wise-vision/ros2_mcp/agents-md.svg" alt="Reviewed on agentmods" width="80" height="20"></a>

Per session 734 This file is loaded in full into every session.

When invoked 734 The same file — it is already loaded in full.

Security scan A 0 findings. A grade says what 26 rules found in the file — not that it is safe.

Origin original No closer match found in the catalogue.

Token cost

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	$0.00734	$0.00734
Opus 5.5	$0.00294	$0.00294
Sonnet 5.5	$0.00147	$0.00147
Haiku 4.5	$0.00073	$0.00073

Measured 23d ago against content hash 1ded5f31d912, method: parsed. Prices are Anthropic first-party input rates as of 2026-10-07, from the pricing page.

Security

Grade A, and why

ros2_mcp AGENTS.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 23d 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.

AGENTS.md · 54 lines

How it starts

The opening of the file, as written. The whole thing — 54 lines — stays where its author put it; the contents beside it link to each section on GitHub.

Agent instructions

This repo is a Python MCP server for ROS 2 (Humble/Jazzy). The packaged entrypoint is mcp_ros_2_server (see pyproject.toml).

Project layout

server/ — MCP server (server.py), tool handlers (tools_ros2.py), ROS 2 logic (ros2_manager.py), prompts (prompts_ros2.py), transports (transport.py).
tests/ — pytest tests (often mocking ROS 2 nodes).
Dockerfile — container build for running the server with ROS 2.
server.json — MCP server manifest (runtime + env var knobs).

Dev setup (preferred)

Use uv (deps are pinned in uv.lock):

uv venv
uv sync --dev

Avoid editing uv.lock manually.

Running locally

The server requires a sourced ROS 2 environment before start (so rclpy works).

Stdio (default): uv run mcp_ros_2_server
Streamable HTTP (current MCP spec): uv run mcp_ros_2_server --transport streamable-http (serves http://127.0.0.1:8123/mcp; --host/--port, env ROS2_MCP_TRANSPORT/HOST/PORT)
SSE (deprecated by the MCP spec): uv run mcp_ros_2_server --transport sse (binds 127.0.0.1:8123)

Custom prompts can be toggled via pyproject.toml [tool.mcp_ros_2], env vars (MCP_CUSTOM_PROMPTS, MCP_PROMPTS_LOCAL, MCP_PROMPTS_PATH, MCP_PROMPTS_MODULE) or CLI flags (--custom-prompts, --prompts-local, --prompts-path, --prompts-module) — see server/server.py.

Tests

Tests require ROS 2 Python libs (rclpy) and some message/interface packages (see CI in .github/workflows/server_tests.yml). Typical run inside a ROS 2 environment:

source /opt/ros/<distro>/setup.sh
export PYTHONPATH=.:/opt/ros/<distro>/lib/python3.*/site-packages
uv run pytest

Adding a tool

Implement a ToolHandler (usually in server/tools_ros2.py) and return TextContent/ImageContent outputs.
Register it in server/server.py via add_tool_handler(...).
Add/adjust pytest coverage under tests/.

Adding a prompt

Implement a BasePromptHandler (template-based) in server/prompts_ros2.py.
Register it in server/server.py via add_prompt_handler(...).
For custom prompt authoring, also see docs/CREATE_PROMPT.md.

Read the full file on GitHub · 54 lines

Changes

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.

23d ago Changed · +1 lines · +69 tokens per session 1ded5f31d912
2mo ago First seen · 53 lines · 665 tokens per session scan A 8bf1baa53898

Subscribe to this mod's changes

ros2_mcp AGENTS.md is an instructions file published in the GitHub repository wise-vision/ros2_mcp (98 stars, last pushed 16d ago), licensed MPL-2.0. It adds 734 tokens to every session, about $0.0029 per session on Opus 5.5. 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 2026-08-30.

Building agents Languages Python ai mcp mcp-server mcp-server-ros2 ros2 ros2-mcp-server

ros2_mcp AGENTS.md next to 6 instructions from other repositories
Mod	Type	Stars	Last push	Licence	Scan	Tokens	Works with
ros2_mcp AGENTS.mdwise-vision/ros2_mcp	Instructions file	98	16d ago	MPL-2.0	A	734	Codex, OpenCode
vscode buildNext.instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	9,719	GitHub Copilot
next.js AGENTS.mdvercel/next.js	Instructions file	143k	yesterday	MIT	A	7,461	Codex, OpenCode
langchain AGENTS.mdlangchain-ai/langchain	Instructions file	149k	yesterday	MIT	A	4,680	Codex, OpenCode
vscode oss-third-party-notices.instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	5,516	GitHub Copilot
vscode copilot-instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	3,093	GitHub Copilot
deepseek-harness AGENTS.mddeepseek-ai/deepseek-harness	Instructions file	274k	2d ago	MIT	A	4,313	Codex, OpenCode

ros2_mcp: Instructions file for Codex