diff --git a/src/perception_pkg/perception_pkg/launch_spec.py b/src/perception_pkg/perception_pkg/launch_spec.py
index cf8ee27..2653a32 100755
--- a/src/perception_pkg/perception_pkg/launch_spec.py
+++ b/src/perception_pkg/perception_pkg/launch_spec.py
@@ -6,11 +6,14 @@ def build_perception_commands(config):
     level = config.get("level")
     robot = config.get("robot", "")
     sim_mode = str(config.get("sim_mode", False)).lower()
+    # Yahboom's vehicle/Agent already provide scan, odometry and sensor TF.
+    # Do not start a second odometry or point-cloud conversion pipeline.
+    yahboom_direct_scan = robot == "yahboom" and level == "2d"
     # Gazebo's TurtleBot3 model publishes LaserScan directly. Launching the
     # pointcloud conversion stack here is both redundant and unsupported.
     if sim_mode == "true" and robot == "turtlebot3":
         return cmds
-    if level and level != "None":
+    if level and level != "None" and not yahboom_direct_scan:
         cmds.append(["ros2", "launch", f"perception{level}_pkg",
                      "perception.launch.py", f"robot:={robot}", f"sim_mode:={sim_mode}"])
     for entry in config.get("perception") or []:
diff --git a/src/perception_pkg/test/test_launch_spec.py b/src/perception_pkg/test/test_launch_spec.py
index 06fac1d..bf8ed87 100755
--- a/src/perception_pkg/test/test_launch_spec.py
+++ b/src/perception_pkg/test/test_launch_spec.py
@@ -1,6 +1,24 @@
 from perception_pkg.launch_spec import build_perception_commands
 
 
+def test_yahboom_does_not_duplicate_scan_and_tf():
+    for simulation in (True, False):
+        assert build_perception_commands({
+            "level": "2d", "robot": "yahboom", "sim_mode": simulation}) == []
+
+
+def test_yahboom_keeps_explicit_extra_processing():
+    commands = build_perception_commands({
+        "level": "2d", "robot": "yahboom", "sim_mode": True,
+        "perception": [{"package": "custom_detector"}]})
+    assert commands == [["ros2", "launch", "custom_detector", "perception.launch.py"]]
+
+
+def test_turtlebot_simulation_remains_direct_scan():
+    assert build_perception_commands({
+        "level": "2d", "robot": "turtlebot3", "sim_mode": True}) == []
+
+
 def test_level_only():
     cmds = build_perception_commands({"level": "3d", "robot": "mkmini", "sim_mode": True})
     assert ["ros2", "launch", "perception3d_pkg", "perception.launch.py", "robot:=mkmini", "sim_mode:=true"] in cmds