refactoring run

rbs_perception/launch/perception.launch.py

@@ -1,3 +1,4 @@
+import os
 from launch_ros.actions import Node
 from ur_moveit_config.launch_common import load_yaml
 from launch import LaunchDescription
@@ -16,12 +17,13 @@ def generate_launch_description():
             points_params
         ]
     )
-    grasp_marker = Node(
+    pose_estimation = Node(
         package="rbs_perception",
-        executable="grasp_marker_publish.py",
+        executable="pose_estimation_lifecycle.py",
     )
+
     nodes_to_start = [
         grasp_pose_loader,
-        grasp_marker
+        pose_estimation
     ]
     return LaunchDescription(declared_arguments + nodes_to_start)