Add ROS 2 Launch System + Documentation

docs/launch_system.md

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+# ROS2 Launch System
+
+## Overview
+
+The ROS-MCP Server uses proper ROS2 launch files for process management.
+
+## Available Launch Files
+
+### `ros_mcp_rosbridge.launch.py`
+**Purpose**: Launch only Rosbridge WebSocket server
+**Use Case**: External robots, custom setups, testing
+
+```bash
+# Basic usage
+ros2 launch ros_mcp_rosbridge.launch.py
+
+# Custom port
+ros2 launch ros_mcp_rosbridge.launch.py port:=9091
+
+# Specific address
+ros2 launch ros_mcp_rosbridge.launch.py address:=127.0.0.1
+```
+
+## Benefits
+
+- ✅ **Proper process management** - Automatic cleanup on shutdown
+- ✅ **Configuration options** - Parameter passing and validation
+- ✅ **ROS2 integration** - Works with `ros2 launch` command
+- ✅ **Logging control** - Configurable log levels
+- ✅ **Signal handling** - Proper SIGINT/SIGTERM handling
+
+## Common Arguments
+
+| Argument | Default | Description |
+|----------|---------|-------------|
+| `port` | 9090 | WebSocket server port |
+| `address` | "" | Bind address (empty = all interfaces) |
+| `log_level` | info | Log level (debug, info, warn, error) |
+
+## Examples
+
+### External Robot Connection
+```bash
+# Start rosbridge for external robot
+ros2 launch ros_mcp_server ros_mcp_rosbridge.launch.py port:=9090
+
+# Connect MCP server to robot IP
+# (Configure in MCP client settings)
+```
+
+### Debug Mode
+```bash
+# Enable debug logging
+ros2 launch ros_mcp_server ros_mcp_rosbridge.launch.py log_level:=debug
+```
+
+## Troubleshooting
+
+### Port Already in Use
+```bash
+# Check port usage
+netstat -tulpn | grep :9090
+
+# Use different port
+ros2 launch ros_mcp_server ros_mcp_rosbridge.launch.py port:=9091
+```
+
+### Missing Dependencies
+```bash
+# Install required packages
+sudo apt install ros-jazzy-rosbridge-server
+```
+
+### Check Node Status
+```bash
+# List running nodes
+ros2 node list
+
+# Check topics
+ros2 topic list
+```

examples/1_turtlesim/ros_mcp_turtlesim.launch.py

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+#!/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,
+        ]
+    )

examples/8_images/ros_mcp_images_demo.launch.py

@@ -1,12 +1,13 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
 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

launch/ros_mcp_rosbridge.launch.py

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+#!/usr/bin/env python3
+
+"""
+ROS2 Launch file for Rosbridge WebSocket Server only
+Launches only the rosbridge server without turtlesim.
+
+Use this when you want to connect to an external robot or simulation.
+"""
+
+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 rosbridge only."""
+
+    # Declare launch arguments
+    port_arg = DeclareLaunchArgument(
+        "port", default_value="9090", description="Port for rosbridge websocket server"
+    )
+
+    address_arg = DeclareLaunchArgument(
+        "address",
+        default_value="",
+        description="Address for rosbridge websocket server (empty for all interfaces)",
+    )
+
+    log_level_arg = DeclareLaunchArgument(
+        "log_level", default_value="info", description="Log level for rosbridge server"
+    )
+
+    # 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,
+                "default_call_service_timeout": 5.0,
+            }
+        ],
+        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+    )
+
+    # Log info
+    log_info = LogInfo(
+        msg=[
+            "Starting Rosbridge WebSocket Server:",
+            "  - Port: ",
+            LaunchConfiguration("port"),
+            "  - Address: ",
+            LaunchConfiguration("address"),
+            "  - Log level: ",
+            LaunchConfiguration("log_level"),
+        ]
+    )
+
+    return LaunchDescription(
+        [
+            port_arg,
+            address_arg,
+            log_level_arg,
+            log_info,
+            rosbridge_node,
+        ]
+    )