"""Launch keypoint_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 = 'keypoint_pose.keypoint_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': '',
            },
        ),
    ])