ros2 run rclcpp_components component_container

import launch

from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    return launch.LaunchDescription([
        LoadComposableNodes(
            target_container='/ComponentManager', # /mock_component_container',
            composable_node_descriptions=[
                ComposableNode(
                    package='demo_nodes_cpp',
                    plugin='demo_nodes_cpp::Talker',
                )
            ]
        )
    ])