Running glim_ros2 without viewer (iridescence)

[changh95]

In GLIM, there is an option to build without viewer (-DBUILD_WITH_VIEWER=OFF).

When this option is disabled, it seems like the build for glim_ros2 fails. This means glim_ros2 forces the user to use the iridescence GUI.

By no means I'm not saying iridescence is bad (it's an amazing GUI!), but to end the glim_ros2 process for glim_rosbag and get the pose and map output via dump, the user MUST close the iridescence window manually. This makes it difficult to use with autonomous robot applications, where the software runs in headless mode (i.e. no graphical user interface).

I'm wondering if there is headless mode for glim_ros2, or I'm doing something wrong?

[github-actions]

Please re-open the issue in the GLIM main repository.