refactoring repo

rbs_perception/launch/perception.launch.py

@@ -0,0 +1,27 @@
+from launch_ros.actions import Node
+from ur_moveit_config.launch_common import load_yaml
+from launch import LaunchDescription
+
+def generate_launch_description():
+    declared_arguments = []
+    
+    points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
+
+    grasp_pose_loader = Node(
+        package="rbs_skill_servers",
+        executable="pick_place_pose_loader_service_server",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            points_params
+        ]
+    )
+    grasp_marker = Node(
+        package="rbs_perception",
+        executable="grasp_marker_publish.py",
+    )
+    nodes_to_start = [
+        grasp_pose_loader,
+        grasp_marker
+    ]
+    return LaunchDescription(declared_arguments + nodes_to_start)