32 lines
849 B
Python
32 lines
849 B
Python
"""Launch keypoint_node using the mmpose conda environment's Python."""
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import os
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess
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def generate_launch_description():
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python_exe = os.path.expanduser(
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'~/miniconda3/envs/mmpose/bin/python3'
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)
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node_module = 'keypoint_pose.keypoint_node'
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return LaunchDescription([
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ExecuteProcess(
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cmd=[
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python_exe, '-m', node_module,
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'--ros-args',
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'-p', 'threshold:=0.3',
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'-p', 'device:=cuda:0',
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'-p', 'max_residual:=0.10',
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],
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output='screen',
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env={
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**os.environ,
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'DISPLAY': os.environ.get('DISPLAY', ':1'),
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'QT_QPA_PLATFORM_PLUGIN_PATH': '',
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},
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),
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])
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