segmentation node improvements

Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co>

Author: pepisg

nav2_semantic_segmentation_demo/semantic_segmentation_node/semantic_segmentation_node/segmentation_node.py

@@ -3,6 +3,7 @@
 
 import rclpy
 from rclpy.node import Node
+from rclpy.qos import QoSProfile, DurabilityPolicy
 from sensor_msgs.msg import Image
 from vision_msgs.msg import LabelInfo, VisionClass
 from cv_bridge import CvBridge
@@ -25,13 +26,6 @@ def __init__(self):
         model_path = package_share / 'models' / 'model.onnx'
         config_path = package_share / 'config' / 'ontology.yaml'
 
-        # If model doesn't exist (symlink install), try source directory
-        if not model_path.exists():
-            import os
-            src_path = Path(__file__).parent.parent.parent / 'models' / 'model.onnx'
-            if src_path.exists():
-                model_path = src_path
-        
         # Load config
         with open(config_path, 'r') as f:
             config = yaml.safe_load(f)
@@ -111,7 +105,6 @@ def __init__(self):
             )
 
         # Create LabelInfo publisher with transient local QoS
-        from rclpy.qos import QoSProfile, DurabilityPolicy
         label_info_qos = QoSProfile(
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL