ROS MCP Server

#!/usr/bin/env python3 """ ROS2 Launch file for ROS-MCP Server Replaces the functionality of scripts/launch_ros.sh with proper ROS2 launch system. This launch file starts: - rosbridge_websocket server - turtlesim node - Provides proper process management and cleanup """ from launch.actions import DeclareLaunchArgument, LogInfo from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from launch import LaunchDescription def generate_launch_description(): """Generate the launch description for ROS-MCP Server.""" # Declare launch arguments rosbridge_port_arg = DeclareLaunchArgument( "port", default_value="9090", description="Port for rosbridge websocket server" ) rosbridge_address_arg = DeclareLaunchArgument( "address", default_value="", description="Address for rosbridge websocket server (empty for all interfaces)", ) turtlesim_name_arg = DeclareLaunchArgument( "turtlesim_name", default_value="turtlesim", description="Name for the turtlesim node" ) # Rosbridge websocket server node rosbridge_node = Node( package="rosbridge_server", executable="rosbridge_websocket", name="rosbridge_websocket", output="screen", parameters=[ { "port": LaunchConfiguration("port"), "address": LaunchConfiguration("address"), "use_compression": False, "max_message_size": 10000000, "send_action_goals_in_new_thread": True, "call_services_in_new_thread": True, } ], arguments=["--ros-args", "--log-level", "info"], ) # Turtlesim node turtlesim_node = Node( package="turtlesim", executable="turtlesim_node", name=LaunchConfiguration("turtlesim_name"), output="screen", arguments=["--ros-args", "--log-level", "info"], ) # Log info about what's being launched log_info = LogInfo( msg=[ "Starting ROS-MCP Server with:", " - Rosbridge WebSocket on port: ", LaunchConfiguration("port"), " - Turtlesim node: ", LaunchConfiguration("turtlesim_name"), ] ) return LaunchDescription( [ rosbridge_port_arg, rosbridge_address_arg, turtlesim_name_arg, log_info, rosbridge_node, turtlesim_node, ] )