ROS MCP Server

import os from ament_index_python.packages import get_package_share_directory from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.launch_description_sources import AnyLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from launch import LaunchDescription def generate_launch_description(): # Declare port argument for rosbridge port_arg = DeclareLaunchArgument( "port", default_value="9090", description="Port for rosbridge websocket" ) # rosbridge websocket rosbridge_launch = IncludeLaunchDescription( AnyLaunchDescriptionSource( os.path.join( get_package_share_directory("rosbridge_server"), "launch", "rosbridge_websocket_launch.xml", ) ), launch_arguments={"port": LaunchConfiguration("port")}.items(), ) # cam2image (synthetic image since burger_mode=true) cam2image = Node( package="image_tools", executable="cam2image", name="cam2image", parameters=[{"burger_mode": True}], ) # showimage (display the image) showimage = Node( package="image_tools", executable="showimage", name="showimage", ) # image_transport republisher (raw → compressed) republish = Node( package="image_transport", executable="republish", name="republish", arguments=["raw"], remappings=[ ("in", "/image"), ("out", "/image/compressed"), ], ) return LaunchDescription( [ port_arg, rosbridge_launch, cam2image, showimage, republish, ] )