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Both methods add the project directory to Prolog's library search path and load the prolog/init.pl file inside the respective package.

rosrun is a shell command that you call from e.g. your Bash shell. It starts Prolog and initially loads the init.pl of the package you give as argument, which then recursively loads all init.pl of all dependencies.

Once you have started a Prolog shell, you can use register_ros_package (which is a Prolog predicate, no shell/bash command) to load additional packages.

In the examples you gave, mod_vis and ias_semantic_map are independent of each other (none of them depends on the other). You therefore can't load both with a single command but have to load one first and then the other.