G1 Humanoid MCP

[goheesheng]

Can this repo be used for G1 Unitree Humanoid? How so?

[stex2005]

Yes, you can use this repo with the Unitree G1 Humanoid, but it requires one step on your side. The ROS-MCP Server is robot-agnostic: it exposes whatever ROS topics, services, actions, and parameters your robot provides as MCP tools.

• If your G1 already has ROS/ROS2 interfaces, the server will automatically discover them (joint states, IMU, controllers, motion services, etc.).
• If the G1 only provides a Unitree SDK (UDP/TCP), you just need a small ROS wrapper node that republishes those signals into ROS topics/services.