text: import os
  import yaml
  from launch import LaunchDescription
  from launch_ros.actions import Node
  from ament_index_python.packages import get_package_share_directory
  
  
  def generate_launch_description():
  
      # Planning Scene ROS API Tutorial executable
      planning_scene_ros_api_tutorial = Node(
          name="planning_scene_ros_api_tutorial",
          package="moveit2_tutorials",
          executable="planning_scene_ros_api_tutorial",
          output="screen",
      )
  
      return LaunchDescription([planning_scene_ros_api_tutorial])
  