#!/usr/bin/env python3
"""
ROS2 Launch file for ROS-MCP Server with TurtleBot3
This launch file starts:
- rosbridge_websocket server
- TurtleBot3 robot
- Provides proper process management and cleanup
"""
import os
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
def generate_launch_description():
"""Generate the launch description for ROS-MCP Server with TurtleBot3."""
# 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)",
)
# 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"],
)
# Include TurtleBot3 bringup launch file
turtlebot3_bringup_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[
os.path.join(
FindPackageShare("turtlebot3_bringup").find("turtlebot3_bringup"),
"launch",
"robot.launch.py",
)
]
)
)
# Log info about what's being launched
log_info = LogInfo(
msg=[
"Starting ROS-MCP Server with:",
" - Rosbridge WebSocket on port: ",
LaunchConfiguration("port"),
" - TurtleBot3 robot bringup",
]
)
return LaunchDescription(
[
rosbridge_port_arg,
rosbridge_address_arg,
log_info,
rosbridge_node,
turtlebot3_bringup_launch,
]
)
