Test foot to plane

3D_tracking_Re-ID/launch/single_person_demo.launch.py

@@ -0,0 +1,31 @@
+"""Launch single_person_loc_node using the mmpose conda environment's Python."""
+
+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 = '3D_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': '',
+            },
+        ),
+    ])