runtime/rbs_perception/launch/perception.launch.py

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from launch_ros.actions import Node
from launch import LaunchDescription
def generate_launch_description():
declared_arguments = []
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pose_estimation = Node(
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package="rbs_perception",
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executable="pose_estimation_lifecycle.py",
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)
object_detection = Node(
package="rbs_perception",
executable="detection_lifecycle.py",
)
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nodes_to_start = [
pose_estimation,
object_detection,
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]
return LaunchDescription(declared_arguments + nodes_to_start)