ATLANTA — Joseph Wilson Rogers Sr., who went from short-order cook to cofounder of one of the nation’s largest restaurant chains, Waffle House, died Friday. He was 97.

Mr. Rogers, born in Jackson, Tenn., was the son of a railroad worker who was laid off during the Great Depression, the company said in a statement announcing the death. After his father’s layoff, Mr. Rogers delivered newspapers and laundry to help the family.

During World War II, he joined the Army Air Corps, learned to fly, and also trained B-24 pilots, eventually earning the rank of captain.

After the war, he found work grilling burgers during the day at a Toddle House restaurant in New Haven. At night, he learned accounting and other aspects of the business from the manager and his wife. He was quickly promoted to local and regional management positions, the company said.

After moving to Georgia, Mr. Rogers and Tom Forkner opened the first Waffle House restaurant just east of Atlanta in Avondale Estates, in 1955. Under their leadership, the Waffle House chain grew to 400 restaurants by the end of the 1970s, the company said.

Mr. Rogers still spent time at the corporate headquarters in Norcross until a few years ago.

‘‘I’m not an executive, I’m a waffle cook,’’ Mr. Rogers told the Atlanta Journal-Constitution.