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Actually the frozen_inference_graph.pb file is in the same directory of the script, so I don't know what is different respect the python execution.

I believe this is similar/a duplicate of #q235337.

Summarising: the CWD (current working directory) when running a node with rosrun or roslaunch is not the same as when you start a script yourself.

The CWD for all nodes is $HOME/.ros. So unless there is a file called frozen_inference_graph.pb in $HOME/.ros, the error you mention is expected.