updates

tracking_re_id/launch/single_person_headless.launch.py

@@ -0,0 +1,33 @@
+"""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
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    python_exe = os.path.expanduser(
+        '~/miniconda3/envs/mmpose/bin/python3'
+    )
+
+    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},
+        ),
+    ])