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(), ) # Realsense camera driver realsense_launch = IncludeLaunchDescription( AnyLaunchDescriptionSource( os.path.join( get_package_share_directory("realsense2_camera"), "launch", "rs_launch.py", ) ) ) # showimage for realsense (color) showimage_real = Node( package="image_tools", executable="showimage", name="showimage_real", remappings=[("/image", "/camera/camera/color/image_raw")], ) # republish compressed for realsense color stream republish_real = Node( package="image_transport", executable="republish", name="republish_real", arguments=["raw"], remappings=[ ("in", "/camera/camera/color/image_raw"), ("out", "/camera/camera/color/image_raw/compressed"), ], ) return LaunchDescription( [ port_arg, rosbridge_launch, realsense_launch, showimage_real, republish_real, ] )