gdc_atrium/tracking_re_id/launch/single_person_headless.launch.py

"""Launch single_person_loc_node in headless mode (no display windows).

Publishes 3D keypoint markers to /keypoint_markers without opening any
OpenCV windows.  Useful for running on a server or as part of a larger
pipeline where visualisation is handled elsewhere.
"""

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',
                '-p', 'headless:=true',
            ],
            output='screen',
            env={**os.environ},
        ),
    ])