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