obstacle_avoidance_demo.launch.xml

<launch>
  <arg name="bagfile" default="$(find-pkg-share moveit2_tutorials)/bags/perception_tutorial.bag" />
  <arg name="launchfile_panda"
       default="$(find-pkg-share moveit_resources_panda_moveit_config)/launch/demo.launch.py" />
  <!--
  In this tutorial we wait much longer for the robot transforms than we usually would,
  because the user's machine might be quite slow.
  Arg name is shortened although the final lengthy Param name is: 'robot_description_planning/shape_transform_cache_lookup_wait_tim'
  -->
  <arg name="shape_transform_cache_lookup_wait_time"
       default="0.5" />

  <!-- Play the rosbag that contains the pointcloud data -->
  <executable cmd="ros2 bag play -l --clock 10.0 $(var bagfile)" output="screen" />

  <include file="$(var launchfile_panda)">
    <arg name="shape_transform_cache_lookup_wait_time" value="$(var shape_transform_cache_lookup_wait_time)" />
    <arg name="rviz_tutorial" value="false" />
  </include>

  <!-- If needed, broadcast static tf for robot root -->  
  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.00 -.40 0.60 0.19 0.07 -1.91 world camera_rgb_optical_frame" />
</launch>