{
  "provenance": {
    "release": "2610",
    "package_version": "2610",
    "git_describe": "2610-2-gc1bfecd",
    "source_sha": "c1bfecdfc966b920791870ff29c18a4de33556d1"
  },
  "tools": [
    {
      "name": "ros2_action_request_result",
      "description": "Wait for the RESULT of a ROS 2 action (GetResult) for a given goal_id. Before **every** use of this tool, the agent should ensure the target action exists (e.g., by calling 'ros2_list_actions').",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "action_name": {
            "description": "Action name, e.g. '/fibonacci'",
            "type": "string"
          },
          "action_type": {
            "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
            "type": "string"
          },
          "goal_id_hex": {
            "description": "32-char UUID hex of the goal (no dashes).",
            "type": "string"
          },
          "timeout_sec": {
            "anyOf": [
              {
                "type": "number"
              },
              {
                "type": "null"
              }
            ],
            "default": 60.0,
            "description": "Seconds to wait for GetResult; null → wait indefinitely."
          },
          "wait_for_service_sec": {
            "default": 3.0,
            "description": "Seconds to wait for the GetResult service to appear.",
            "type": "number"
          }
        },
        "required": [
          "action_name",
          "action_type",
          "goal_id_hex"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_action_subscribe_feedback",
      "description": "Subscribe to feedback messages of a ROS 2 action. Optionally filter by goal_id_hex. Collects feedback for a fixed duration or until a maximum number of messages is received. Each message contains goal_id, feedback payload, and receive timestamp.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "action_name": {
            "description": "Action name, e.g. '/fibonacci'",
            "type": "string"
          },
          "action_type": {
            "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
            "type": "string"
          },
          "duration_sec": {
            "default": 5.0,
            "description": "How many seconds to keep spinning and collecting feedback.",
            "type": "number"
          },
          "goal_id_hex": {
            "description": "Optional 32-char UUID hex of the goal (no dashes) to filter feedbacks.",
            "type": [
              "string",
              "null"
            ]
          },
          "max_messages": {
            "default": 100,
            "description": "Maximum number of feedback messages to collect.",
            "type": "integer"
          }
        },
        "required": [
          "action_name",
          "action_type"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_action_subscribe_status",
      "description": "Subscribe to '/<action>/_action/status' (action_msgs/msg/GoalStatusArray) and return a snapshot of status frames over a time window. Each frame contains goal_id, accept_stamp, status_code and status text.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "action_name": {
            "description": "Action name, e.g. '/fibonacci'",
            "type": "string"
          },
          "duration_sec": {
            "default": 5.0,
            "description": "How many seconds to collect status frames.",
            "type": "number"
          },
          "max_messages": {
            "default": 100,
            "description": "Max number of individual statuses to collect in total.",
            "type": "integer"
          }
        },
        "required": [
          "action_name"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_cancel_action_goal",
      "description": "Cancel a ROS 2 action goal via '/<action>/cancel_goal' (action_msgs/srv/CancelGoal). You can cancel a specific goal by goal_id_hex or cancel all matching goals using cancel_all=True. Optionally limit cancellation to goals accepted before a given stamp (sec/nanosec). Before **every** use of this tool, the agent should ensure the target action exists (e.g., by calling 'ros2_list_actions').",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "action_name": {
            "description": "Action name, e.g. '/fibonacci' or '/navigate_to_pose'",
            "type": "string"
          },
          "cancel_all": {
            "default": false,
            "description": "If true, send zero-UUID to cancel all matching goals.",
            "type": "boolean"
          },
          "goal_id_hex": {
            "description": "32-char UUID hex of the goal (no dashes). Omit when cancel_all=True.",
            "type": "string"
          },
          "stamp_nanosec": {
            "default": 0,
            "description": "Nanoseconds part for the acceptance time filter.",
            "type": "integer"
          },
          "stamp_sec": {
            "default": 0,
            "description": "Cancel goals accepted BEFORE this sec (default 0 → usually all).",
            "type": "integer"
          },
          "wait_timeout_sec": {
            "default": 3.0,
            "description": "Timeout (seconds) to wait for the service and response.",
            "type": "number"
          }
        },
        "required": [
          "action_name"
        ],
        "type": "object"
      },
      "mutating": true
    },
    {
      "name": "ros2_get_map_as_image",
      "description": "Get one nav_msgs/msg/OccupancyGrid message from a topic and return it as a PNG image (base64-encoded). Unknown cells rendered as gray, free as white, occupied as black.",
      "input_schema": {
        "properties": {
          "topic_name": {
            "description": "The name of the ROS 2 topic publishing nav_msgs/msg/OccupancyGrid (e.g., /map).",
            "type": "string"
          }
        },
        "required": [
          "topic_name"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_get_message_fields",
      "description": "Returns the fields of a given ROS2 message type.",
      "input_schema": {
        "properties": {
          "message_type": {
            "description": "Full ROS2 message type, e.g., std_msgs/msg/String",
            "type": "string"
          }
        },
        "required": [
          "message_type"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_get_messages_stored_in_influx_data_base",
      "description": "Calls the ROS2 ‘/get_messages’ service to retrieve past messages from a topic for data which is stored in InfluxDB.\n            Check if the /get_messages service is available before calling.",
      "input_schema": {
        "properties": {
          "message_type": {
            "description": "Full ROS2 message type used for decoding",
            "type": "string"
          },
          "number_of_messages": {
            "default": 0,
            "description": "Number of messages to fetch.",
            "type": "integer"
          },
          "time_end": {
            "description": "ISO8601 timestamp string to filter messages before a point in time.",
            "type": "string"
          },
          "time_start": {
            "description": "ISO8601 timestamp string to filter messages after a point in time.",
            "type": "string"
          },
          "topic_name": {
            "description": "Name of the topic to retrieve messages from.",
            "type": "string"
          }
        },
        "required": [
          "topic_name",
          "message_type"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_get_pointcloud_as_bev",
      "description": "Get one sensor_msgs/msg/PointCloud2 message from a topic and return it as a PNG image (base64-encoded) rendered as a bird's-eye view (XY projection). Supports coloring by intensity/height/rgb.",
      "input_schema": {
        "properties": {
          "color_mode": {
            "default": "intensity",
            "description": "Coloring mode: 'intensity' | 'height' | 'rgb'.",
            "enum": [
              "intensity",
              "height",
              "rgb"
            ],
            "type": "string"
          },
          "colormap": {
            "default": "jet",
            "description": "Colormap for intensity/height: 'jet' | 'gray'.",
            "enum": [
              "jet",
              "gray"
            ],
            "type": "string"
          },
          "max_pixels": {
            "default": 2048,
            "description": "Max image size per axis (to cap huge clouds).",
            "type": "integer"
          },
          "resolution": {
            "default": 0.05,
            "description": "Meters per pixel for the BEV image.",
            "type": "number"
          },
          "timeout": {
            "default": 5.0,
            "description": "Seconds to wait for a message.",
            "type": "number"
          },
          "topic_name": {
            "description": "ROS 2 topic with PointCloud2 (e.g., /points).",
            "type": "string"
          },
          "zmax": {
            "description": "Max Z to include (meters).",
            "type": "number"
          },
          "zmin": {
            "description": "Min Z to include (meters).",
            "type": "number"
          }
        },
        "required": [
          "topic_name"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_interface_list",
      "description": "Returns a list of available ROS 2 interfaces.",
      "input_schema": {
        "properties": {},
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_list_actions",
      "description": "List all available ROS 2 actions with their types and request fields.\n            This tool queries the current ROS graph to discover active action servers and\n            returns a structured description for each action.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {},
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_publish_multiple_topics",
      "description": "Publish messages to multiple ROS 2 topics simultaneously with optional frequency and duration.",
      "input_schema": {
        "properties": {
          "topics": {
            "description": "List of topics to publish to.",
            "items": {
              "properties": {
                "data": {
                  "description": "Message content as dictionary",
                  "type": "object"
                },
                "duration": {
                  "default": 5.0,
                  "description": "Duration in seconds to publish (optional)",
                  "type": "number"
                },
                "frequency": {
                  "default": 1.0,
                  "description": "Publishing frequency in Hz (optional)",
                  "type": "number"
                },
                "message_type": {
                  "type": "string"
                },
                "topic_name": {
                  "type": "string"
                }
              },
              "required": [
                "topic_name",
                "message_type",
                "data"
              ],
              "type": "object"
            },
            "type": "array"
          }
        },
        "required": [
          "topics"
        ],
        "type": "object"
      },
      "mutating": true
    },
    {
      "name": "ros2_send_action_goal",
      "description": "Send a goal to a ROS 2 action by name and action type using provided goal fields. Before **every** use of this tool, the agent must call 'ros2_list_actions' and 'ros2_interface_list' to ensure the latest available actions and types are known. Optionally wait for the result with a timeout.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "action_name": {
            "description": "Action name, e.g. '/fibonacci' or '/navigate_to_pose'",
            "type": "string"
          },
          "action_type": {
            "description": "Full action type, e.g. 'example_interfaces/action/Fibonacci' or 'pkg/ActionName'",
            "type": "string"
          },
          "goal_fields": {
            "description": "Dictionary with goal message fields (1st section of .action file)",
            "type": "object"
          },
          "timeout_sec": {
            "default": 60.0,
            "description": "Timeout (seconds) for waiting on the result when wait_for_result=true",
            "type": "number"
          },
          "wait_for_result": {
            "default": false,
            "description": "If true, wait for GetResult and include final status/result",
            "type": "boolean"
          }
        },
        "required": [
          "action_name",
          "action_type",
          "goal_fields"
        ],
        "type": "object"
      },
      "mutating": true
    },
    {
      "name": "ros2_service_call",
      "description": "Call a ROS 2 service by name and type using provided fields.\n            Will ask the user to confirm if some fields are missing unless 'force_call' is set to True.\n            Before **every** use of this tool, the agent must call 'ros2 service list' and 'ros2 interface list' to ensure the latest interface information is available.",
      "input_schema": {
        "properties": {
          "fields": {
            "description": "Dictionary of fields to send in the service request.",
            "type": "object"
          },
          "force_call": {
            "default": false,
            "description": "Whether to call the service even if some fields are missing",
            "type": "boolean"
          },
          "service_name": {
            "description": "Name of the service to call",
            "type": "string"
          },
          "service_type": {
            "description": "Full ROS 2 service type, before pass, check service type using tool ros2_service_list",
            "type": "string"
          }
        },
        "required": [
          "service_name",
          "service_type",
          "fields"
        ],
        "type": "object"
      },
      "mutating": true
    },
    {
      "name": "ros2_service_list",
      "description": "Returns a list of available ROS 2 services and their request fields.",
      "input_schema": {
        "properties": {},
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_stream_next",
      "description": "Fetch the latest item from a stream session. If after_seq is provided, returns available=false until seq increases. UI/App-only tool.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "after_seq": {
            "type": "integer"
          },
          "session_id": {
            "type": "string"
          }
        },
        "required": [
          "session_id"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_stream_next_image",
      "description": "Fetch the latest image from an image stream session and return it as ImageContent (useful when the client cannot render the Viewer App UI). UI/App-only tool.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "after_seq": {
            "type": "integer"
          },
          "session_id": {
            "type": "string"
          }
        },
        "required": [
          "session_id"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_stream_start",
      "description": "Start a keep-latest stream session for a ROS 2 topic (Image/CompressedImage/PointCloud2/Generic). Returns a session_id. UI/App-only tool.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "jpeg_quality": {
            "default": 80,
            "type": "integer"
          },
          "kind": {
            "enum": [
              "image",
              "pointcloud",
              "message"
            ],
            "type": "string"
          },
          "max_height": {
            "default": 540,
            "type": "integer"
          },
          "max_points": {
            "default": 0,
            "description": "Max points to return; <=0 means no limit.",
            "type": "integer"
          },
          "max_width": {
            "default": 960,
            "type": "integer"
          },
          "qos_preset": {
            "default": "auto",
            "description": "QoS preset for the stream subscription. Use sensor_data for most camera topics.",
            "enum": [
              "auto",
              "sensor_data",
              "system_default"
            ],
            "type": "string"
          },
          "target_fps": {
            "default": 20.0,
            "description": "Soft cap for processing frames (keep-latest, drops when over).",
            "type": "number"
          },
          "topic_name": {
            "type": "string"
          }
        },
        "required": [
          "topic_name",
          "kind"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_stream_stop",
      "description": "Stop and clean up a stream session previously started with ros2_stream_start. UI/App-only tool.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {
          "session_id": {
            "type": "string"
          }
        },
        "required": [
          "session_id"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_subscribe_multiple_topics",
      "description": "Subscribe to multiple ROS 2 topics at once and return received messages.",
      "input_schema": {
        "properties": {
          "topics": {
            "description": "List of topics to subscribe to.",
            "items": {
              "properties": {
                "duration": {
                  "default": 0.0,
                  "description": "How many seconds to listen (optional).",
                  "type": "number"
                },
                "message_limit": {
                  "default": 0,
                  "description": "Number of messages to collect (optional).",
                  "type": "integer"
                },
                "name": {
                  "type": "string"
                }
              },
              "required": [
                "name"
              ],
              "type": "object"
            },
            "type": "array"
          }
        },
        "required": [
          "topics"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_topic_list",
      "description": "Returns a list of available ROS 2 topics and their types.",
      "input_schema": {
        "properties": {},
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_topic_publish",
      "description": "Publish a message to a ROS 2 topic by name and message type using provided field values.\n            Supports single publish (default) or continuous publishing at a specified frequency for a duration.\n            Before **every** use of this tool, the agent must call 'ros2_topic_list' and 'ros2_interface_list'\n            to ensure the latest available topics and message types are known.",
      "input_schema": {
        "properties": {
          "data": {
            "description": "Dictionary containing the message fields and values",
            "type": "object"
          },
          "duration": {
            "description": "Optional: Duration in seconds for continuous publishing. Must be used with frequency parameter.",
            "type": "number"
          },
          "frequency": {
            "description": "Optional: Publish frequency in Hz (messages per second). If provided with duration, publishes repeatedly.",
            "type": "number"
          },
          "message_type": {
            "description": "Full ROS 2 message type, e.g., 'std_msgs/msg/String'",
            "type": "string"
          },
          "topic_name": {
            "description": "Name of the topic to publish to",
            "type": "string"
          }
        },
        "required": [
          "topic_name",
          "message_type",
          "data"
        ],
        "type": "object"
      },
      "mutating": true
    },
    {
      "name": "ros2_topic_subscribe",
      "description": "Subscribe to a ROS 2 topic by name collecting messages for a given time or count limit.\n            Before **every** use of this tool, the agent must call 'ros2_topic_list'\n            to ensure it has the latest available topics",
      "input_schema": {
        "properties": {
          "duration": {
            "description": "If provided, collects messages for this many seconds.",
            "type": "number"
          },
          "message_limit": {
            "description": "If provided, stops after receiving this number of messages.",
            "type": "integer"
          },
          "topic_name": {
            "description": "Name of the topic to subscribe to",
            "type": "string"
          }
        },
        "required": [
          "topic_name"
        ],
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_viewer_app",
      "description": "Open an interactive ROS 2 viewer app (Image + PointCloud2 + Plot) for MCP clients that support Apps/HTML resources.",
      "input_schema": {
        "properties": {
          "auto_start": {
            "default": true,
            "type": "boolean"
          },
          "plot_fields": {
            "description": "Optional list of plot field paths to preselect in Plot mode.",
            "items": {
              "type": "string"
            },
            "type": "array"
          },
          "preferred_kind": {
            "enum": [
              "image",
              "pointcloud",
              "plot",
              "auto"
            ],
            "type": "string"
          },
          "topic_name": {
            "type": "string"
          }
        },
        "type": "object"
      },
      "mutating": false
    },
    {
      "name": "ros2_viewer_config",
      "description": "Return the last ROS 2 Viewer App configuration (if any). UI/App-only tool.",
      "input_schema": {
        "additionalProperties": false,
        "properties": {},
        "type": "object"
      },
      "mutating": false
    }
  ]
}