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ROS doesn't provide any ROS-specific log-rotation facilities.

roscpp uses log4cxx as the logging framework, so you may be able to write a log4cxx configuration that specifies log rotation. (I don't know much about log4cxx but that seems like a feature it should have)

There are also a substantial number of linux tools that can do this, so perhaps one of those would be appropriate for your use case.

If you find an appropriate linux tool and want to use it from within a launch file, you may be able to write a wrapper script that you can use with the roslaunch launch-prefix.