yahboom-mcp

# yahboom-mcp - Yahboom Raspbot v2 ROS 2 Robot Control

MCP server for controlling Yahboom Raspbot v2 (mecanum wheels, ROS 2 Humble, LIDAR, camera, voice, OLED display). Dual transport: stdio + HTTP SSE on port 10892. Dashboard on 10893.

## Tools

- `yahboom_tool` - Portmanteau: motion, sensors, IMU, battery, lightstrip, camera PTZ, voice, display, diagnostics, trajectory, gripper, safety (30+ ops)
- `yahboom_demo` - Show-floor demos: mecanum path drawing (smiley/heart/boomy_b) and talkbot with speech-mcp TTS
- `yahboom_agentic_workflow` - Multi-step robot mission via LLM sampling (SEP-1577)
- `yahboom_agent_mission` - NL goal to structured mission JSON (Ollama / Gemini), optional ROS publish + speech
- `yahboom_help_tool` - Multi-level help: motion/sensors/connection/api/mcp_tools/startup/troubleshooting
- `ros_topic_list` - List active ROS 2 topics and message types
- `ros_node_info` - Get ROS 2 node details (publishers, subscribers, services)
- `ros_resync` - Force re-discovery of ROS 2 topics and sensor subscriptions
- `ros_restart_bringup` - Remote restart of Yahboom bringup via SSH
- `lidar` - LIDAR data from Yahboom /scan or Dreame D20 Pro map
- `audio` - Play/store/manage audio via USB voice module speaker
- `query_logs` - Query the in-process log ring buffer
- `yahboom_shutdown` - Gracefully shut down the server

## Prompts

- `yahboom_quick_start`, `yahboom_patrol`, `yahboom_diagnostics`, `yahboom_patrol_apartment`, `yahboom_go_to_recharge`
- Skill prompts: `yahboom_quick_pilot`, `yahboom_patrol_sweep`, `yahboom_emergency_halt`, `yahboom_diagnostic_triage`

## Config

- Port: 10892 (backend), 10893 (frontend)
- Env: `YAHBOOM_IP`, `YAHBOOM_BRIDGE_PORT` (9090), `YAHBOOM_CONNECTION` (rosbridge/esp32/mock), `YAHBOOM_GEMINI_API_KEY`, `DREAME_MAP_URL`
- Robot: Yahboom Raspbot v2, Raspberry Pi 5, ROS 2 Humble, 4 mecanum wheels, LIDAR, camera, IMU

See [llms-full.txt](llms-full.txt) for full tool reference and architecture.