34 lines
955 B
Python
34 lines
955 B
Python
"""Launch single_person_loc_node in headless mode (no display windows).
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Publishes 3D keypoint markers to /keypoint_markers without opening any
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OpenCV windows. Useful for running on a server or as part of a larger
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pipeline where visualisation is handled elsewhere.
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"""
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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 = 'tracking_re_id.single_person_loc_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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'-p', 'headless:=true',
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],
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output='screen',
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env={**os.environ},
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),
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])
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