.

src/tutorial_pkg/launch/image_recognition.launch

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+<launch>
+
+    <arg name="use_gazebo" default="false" />
+    <arg name="teach" default="false"/>
+
+    <!-- Gazebo -->
+    <group if="$(arg use_gazebo)">
+        <param name="use_sim_time" value="true" />
+        <include file="$(find rosbot_bringup)/launch/rosbot_tutorial.launch">
+            <arg if="$(arg teach)" name="world" value="image_teaching"/>
+            <arg unless="$(arg teach)" name="world" value="image_recognition"/>
+        </include>
+    </group>
+
+    <!-- ROSbot -->
+    <group unless="$(arg use_gazebo)">
+        <include file="$(find astra_camera)/launch/astra.launch"/>
+    </group>
+
+    <!-- Teleoperation - keyboard control -->
+    <node name="teleop_twist_keyboard" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen"/>
+
+    <!-- Object detection -->
+    <node pkg="find_object_2d" type="find_object_2d" name="find_object_2d">
+        <remap from="image" to="/camera/rgb/image_raw"/>
+        <param name="gui" value="$(arg teach)"/>
+        <param unless="$(arg teach)" name="objects_path" value="$(find tutorial_pkg)/img_data/"/>
+    </node>
+
+</launch>