HTTP Server Implementation (#3)

* adding notes

* checkpoint for laptop work

* removed unwanted files

* launching simple http node

* update to docs

* moving tests around

* pre-commit

Author: Edwardius

robot_mcp_bringup/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 cmake_minimum_required(VERSION 3.8)
-project(robot_mcp_examples)
+project(robot_mcp_bringup)
 
 find_package(ament_cmake REQUIRED)
 

robot_mcp_bringup/DEVELOPING.md

@@ -0,0 +1,40 @@
+# robot_mcp_bringup Development Guide
+
+## Launch File
+
+`launch/robot_mcp.launch.yaml`: YAML launch format for declarative configuration
+
+- Launches `robot_mcp_server_node` with parameters from file
+- Launches `nav2_lifecycle_manager` to manage node lifecycle with bond monitoring
+- Arguments: `params_file`, `autostart`, `namespace`
+
+## Configuration
+
+Uses Nav2 nested parameter pattern (see `config/minimal.yaml` for example):
+
+```yaml
+mcp_http_server:
+  ros__parameters:
+    topics: ["name1", "name2"]  # List of names
+    name1:                       # Nested params per name
+      field: value
+```
+
+ConfigParser in `robot_mcp_server` validates configuration at runtime.
+
+## Testing
+
+```bash
+# Test launch
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml
+ros2 lifecycle get /mcp_http_server  # Should show "active"
+
+# Test without autostart
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml autostart:=false
+ros2 lifecycle set /mcp_http_server configure
+ros2 lifecycle set /mcp_http_server activate
+
+# Multi-robot (use namespaces and different ports in config)
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml \
+  namespace:=/robot1 params_file:=/path/to/robot1.yaml
+```

robot_mcp_bringup/README.md

@@ -0,0 +1,56 @@
+# robot_mcp_bringup
+
+Launch files and configurations for `robot_mcp_server` with lifecycle management.
+
+## Usage
+
+```bash
+# Launch with default config
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml
+
+# Custom config
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml params_file:=/path/to/config.yaml
+
+# Without autostart (manual lifecycle control)
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml autostart:=false
+```
+
+## Configuration
+
+See `config/minimal.yaml` for example. Configuration structure:
+
+```yaml
+mcp_http_server:
+  ros__parameters:
+    server:
+      host: "0.0.0.0"
+      port: 8080
+      api_key: ""  # Optional, recommended for production
+      enable_https: false  # Requires cert/key paths
+
+    topics: ["topic_name"]
+    topic_name:
+      topic: "/ros/topic"
+      msg_type: "package/msg/Type"
+      plugin: "plugin_class_name"
+```
+
+## Testing
+
+```bash
+# Check status
+ros2 lifecycle get /mcp_http_server
+
+# Test endpoint
+curl -X POST http://localhost:8080/mcp \
+  -H "Content-Type: application/json" \
+  -d '{"jsonrpc": "2.0", "method": "test", "id": 1}'
+```
+
+## Launch Arguments
+
+- `params_file`: Config YAML path (default: `config/minimal.yaml`)
+- `autostart`: Auto configure/activate (default: `true`)
+- `namespace`: Node namespace (default: `""`)
+
+Uses `nav2_lifecycle_manager` for lifecycle management with bond monitoring.

robot_mcp_bringup/config/minimal.yaml

@@ -1,10 +1,27 @@
 # Minimal robot_mcp configuration example
-# This will be populated in Phase 2 (Configuration System)
+# For local/LAN use (HTTP with optional API key)
 
 mcp_http_server:
   ros__parameters:
+    # HTTP server configuration
     server:
       host: "0.0.0.0"
       port: 8080
+      enable_https: false  # Use HTTP for local networks
+      # api_key: "your-secret-key-here"  # Uncomment to enable API key auth
+      thread_pool_size: 10
+      max_connections: 100
+      timeout_ms: 30000
+      enable_cors: true
 
-    # Example actions, services, and topics will be added later
+      # SSL/HTTPS configuration (optional, for production)
+      # enable_https: true
+      # ssl_cert_path: "/etc/letsencrypt/live/robot.example.com/fullchain.pem"
+      # ssl_key_path: "/etc/letsencrypt/live/robot.example.com/privkey.pem"
+
+    # Topics, services, and actions will be configured in Phase 3+
+    # Example structure (Phase 5+):
+    # topics: []
+    # services: []
+    # actions: []
+    # resource_groups: []

robot_mcp_bringup/launch/robot_mcp.launch.yaml

@@ -15,15 +15,41 @@
 launch:
   # Launch arguments
   - arg:
-      name: config
-      default: ""
+      name: params_file
+      default: "$(find-pkg-share robot_mcp_bringup)/config/minimal.yaml"
       description: "Path to robot_mcp configuration file"
 
-  # Node will be added in Phase 5 (Lifecycle Integration)
-  # - node:
-  #     pkg: robot_mcp_server
-  #     exec: robot_mcp_server_node
-  #     name: robot_mcp_server
-  #     param:
-  #       - from: $(var config)
-  #     output: screen
+  - arg:
+      name: autostart
+      default: "true"
+      description: "Automatically configure and activate the lifecycle node"
+
+  - arg:
+      name: namespace
+      default: ""
+      description: "Top-level namespace"
+
+  # robot_mcp_server lifecycle node
+  - node:
+      pkg: robot_mcp_server
+      exec: robot_mcp_server_node
+      name: mcp_http_server
+      namespace: $(var namespace)
+      output: screen
+      emulate_tty: true
+      param:
+        - from: $(var params_file)
+
+  # Nav2 lifecycle manager to manage robot_mcp_server lifecycle
+  - node:
+      pkg: nav2_lifecycle_manager
+      exec: lifecycle_manager
+      name: robot_mcp_lifecycle_manager
+      namespace: $(var namespace)
+      output: screen
+      emulate_tty: true
+      param:
+        - name: autostart
+          value: $(var autostart)
+        - name: node_names
+          value: ['mcp_http_server']

robot_mcp_bringup/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_mcp_examples</name>
+  <name>robot_mcp_bringup</name>
   <version>0.1.0</version>
   <description>Example configurations, launch files, and custom plugins for robot_mcp</description>
 
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>robot_mcp_server</exec_depend>
-  <exec_depend>robot_mcp_common_msg_plugins</exec_depend>
+  <exec_depend>nav2_lifecycle_manager</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

robot_mcp_server/CMakeLists.txt

@@ -31,19 +31,27 @@ find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(robot_mcp_msg_pluginlib REQUIRED)
+find_package(bondcpp REQUIRED)
 find_package(nlohmann_json REQUIRED)
+find_package(OpenSSL REQUIRED)
 
 set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 # Server library
 add_library(${PROJECT_NAME} SHARED
   src/robot_mcp_server_node.cpp
   src/mcp_config/config_parser.cpp
+  src/mcp_http_server/auth_middleware.cpp
+  src/mcp_http_server/json_rpc_handler.cpp
+  src/mcp_http_server/http_server.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${include_dir}>
   $<INSTALL_INTERFACE:include>
 )
+target_compile_definitions(${PROJECT_NAME} PRIVATE
+  CPPHTTPLIB_OPENSSL_SUPPORT
+)
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
     robot_mcp_msg_pluginlib::robot_mcp_msg_pluginlib
@@ -54,7 +62,11 @@ target_link_libraries(${PROJECT_NAME}
     rclcpp_components::component
     ${std_msgs_TARGETS}
     pluginlib::pluginlib
+    bondcpp::bondcpp
     nlohmann_json::nlohmann_json
+    OpenSSL::SSL
+    OpenSSL::Crypto
+    cpp-httplib
 )
 
 # Register as a rclcpp_components component
@@ -80,8 +92,10 @@ install(DIRECTORY include/
 )
 
 # Install test configuration files
-install(DIRECTORY test_mcp_config/
-  DESTINATION share/${PROJECT_NAME}/test_mcp_config
+install(DIRECTORY test/launch_tests/
+  DESTINATION share/${PROJECT_NAME}/test/launch_tests
+  FILES_MATCHING
+  PATTERN "*.yaml"
 )
 
 if(BUILD_TESTING)
@@ -99,13 +113,24 @@ if(BUILD_TESTING)
       ${PROJECT_NAME}
   )
 
-  # Add configuration parser launch tests
+  # Add HTTP component tests (Catch2)
+  add_robot_mcp_test(test_http_components
+    test/test_http_components.cpp
+    LIBRARIES
+      ${PROJECT_NAME}
+  )
+
+  # Add launch tests
+  add_launch_test(
+    test/launch_tests/test_complete_config.py
+  )
+
   add_launch_test(
-    test_mcp_config/test_complete_config.py
+    test/launch_tests/test_minimal_config.py
   )
 
   add_launch_test(
-    test_mcp_config/test_minimal_config.py
+    test/launch_tests/test_http_integration.py
   )
 endif()
 

robot_mcp_server/DEVELOPING.md

@@ -0,0 +1,51 @@
+# robot_mcp_server Development Guide
+
+## Classes
+
+See header files for detailed API documentation.
+
+### Main
+- **`MCPServerNode`**: Lifecycle node, orchestrates config/HTTP/bond
+
+### Config (`mcp_config/`)
+- **`ConfigParser`**: Parse ROS2 params → structs (Nav2 pattern)
+- **`config_types.hpp`**: Plain C++ config structs (ServerConfig, TopicConfig, etc.)
+- **`ConfigParseException`**: Config error exception
+
+### HTTP (`mcp_http_server/`)
+- **`HTTPServer`**: cpp-httplib wrapper, HTTP/HTTPS switching
+- **`JSONRPCHandler`**: JSON-RPC 2.0 protocol, static utility
+- **`AuthMiddleware`**: API key auth, static utility
+
+### Plugin System (Phase 4 - planned)
+- **`MessagePlugin`**, **`ServicePlugin`**, **`ActionPlugin`**: Base classes for pluginlib
+
+## Request Flow
+
+```
+HTTP POST → AuthMiddleware → JSONRPCHandler → MCPServerNode.handleMCPRequest()
+→ (Phase 3: Router → Plugins) → JSON-RPC Response
+```
+
+## Testing
+
+```bash
+# Run tests
+colcon test --packages-select robot_mcp_server --event-handlers console_direct+
+
+# Manual test
+ros2 launch robot_mcp_bringup robot_mcp.launch.yaml
+curl -X POST http://localhost:8080/mcp -H "Content-Type: application/json" \
+  -d '{"jsonrpc": "2.0", "method": "test", "id": 1}'
+```
+
+**Test files:**
+- `test/test_lifecycle.cpp`: Unit tests
+- `test_mcp_config/*.py`: Launch tests with config files
+
+## Development Status
+
+- Phase 1: Config ✅
+- Phase 2: HTTP ✅
+- Phase 3: Router (in progress)
+- Phase 4: Plugins (planned)

robot_mcp_server/README.md

@@ -0,0 +1,48 @@
+# robot_mcp_server
+
+MCP (Model Context Protocol) server for ROS2 robots - enables AI assistants to control robots via HTTP.
+
+## Quick Start
+
+```bash
+# Install dependencies and build
+rosdep install --from-paths . --ignore-src -y
+colcon build --packages-select robot_mcp_server
+
+# Run (use robot_mcp_bringup for production)
+ros2 run robot_mcp_server robot_mcp_server_node --ros-args --params-file config.yaml
+
+# Test
+curl -X POST http://localhost:8080/mcp \
+  -H "Content-Type: application/json" \
+  -d '{"jsonrpc": "2.0", "method": "test", "id": 1}'
+```
+
+## Configuration
+
+See `robot_mcp_bringup/config/minimal.yaml` for example configuration. Configuration follows Nav2 pattern:
+
+```yaml
+mcp_http_server:
+  ros__parameters:
+    server:
+      host: "0.0.0.0"
+      port: 8080
+      api_key: ""  # Optional
+      enable_https: false  # Requires ssl_cert_path and ssl_key_path
+
+    topics: ["topic_name"]  # List of topic names to expose
+    topic_name:
+      topic: "/ros/topic"
+      msg_type: "package/msg/Type"
+      plugin: "plugin_class_name"
+```
+
+## Architecture
+
+- **Config System**: Parses ROS2 parameters
+- **HTTP Server**: HTTP/HTTPS with JSON-RPC 2.0
+- **Router** (Phase 3): Dispatch MCP requests
+- **Plugin System** (Phase 4): Dynamic message/service/action handlers
+
+Lifecycle node compatible with `nav2_lifecycle_manager`. See `DEVELOPING.md` for class reference.