gdc_atrium/tracking_re_id/launch/single_person_demo.launch.py

"""Launch single_person_loc_node using the mmpose conda environment's Python."""

import os
import sys

sys.path.insert(0, os.path.dirname(__file__))
from _conda_utils import find_conda_python  # noqa: E402

from launch import LaunchDescription
from launch.actions import ExecuteProcess


def generate_launch_description():
    python_exe = find_conda_python('mmpose')

    node_module = 'tracking_re_id.single_person_loc_node'

    return LaunchDescription([
        ExecuteProcess(
            cmd=[
                python_exe, '-m', node_module,
                '--ros-args',
                '-p', 'threshold:=0.3',
                '-p', 'device:=cuda:0',
                '-p', 'max_residual:=0.10',
            ],
            output='screen',
            env={
                **os.environ,
                'DISPLAY': os.environ.get('DISPLAY', ':1'),
                'QT_QPA_PLATFORM_PLUGIN_PATH': '',
            },
        ),
    ])