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Fix camera streamer reconnection with re-exec #239

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Merged
nv-mhaselton merged 1 commit into from
Mar 11, 2026
Merged

Fix camera streamer reconnection with re-exec #239

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6 changes: 4 additions & 2 deletions examples/camera_streamer/teleop_camera_app.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
"""

import argparse
import gc
import os
import sys
import time
Expand Down Expand Up @@ -175,8 +174,11 @@ def main():
raise
logger.warning(f"No XR headset connected, retrying in 2s... ({msg})")
del app
gc.collect()
time.sleep(2.0)
# Re-exec for a clean process — in-process GC cannot break the
# C++ shared_ptr cycles holding the OpenXR instance alive.
logger.info("Re-executing for clean XR state...")
os.execv(sys.executable, [sys.executable, *sys.argv])

logger.info("Shutdown complete")
# Required to avoid GIL crash.
Expand Down