[OSS] [ROS2OV_Team1] Refactor topic and service names to relative for namespace compatibility

openvino_wrapper_lib/src/inputs/image_topic.cpp

@@ -22,7 +22,7 @@
 #include "openvino_wrapper_lib/inputs/image_topic.hpp"
 #include "openvino_wrapper_lib/slog.hpp"
 
-#define INPUT_TOPIC "/openvino_toolkit/image_raw"
+#define INPUT_TOPIC "openvino_toolkit/image_raw"
 
 Input::ImageTopic::ImageTopic(rclcpp::Node::SharedPtr node) : node_(node)
 {

openvino_wrapper_lib/src/outputs/ros_topic_output.cpp

@@ -34,29 +34,29 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, const rclcpp::N
     node_ = rclcpp::Node::make_shared(output_name + "_topic_publisher");
   }
   pub_license_plate_ = node_->create_publisher<object_msgs::msg::LicensePlateStamped>(
-      "/openvino_toolkit/" + output_name_ + "/detected_license_plates", 16);
+      "openvino_toolkit/" + output_name_ + "/detected_license_plates", 16);
   pub_vehicle_attribs_ = node_->create_publisher<object_msgs::msg::VehicleAttribsStamped>(
-      "/openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16);
+      "openvino_toolkit/" + output_name_ + "/detected_vehicles_attribs", 16);
   pub_landmarks_ = node_->create_publisher<object_msgs::msg::LandmarkStamped>(
-      "/openvino_toolkit/" + output_name_ + "/detected_landmarks", 16);
+      "openvino_toolkit/" + output_name_ + "/detected_landmarks", 16);
   pub_face_reid_ = node_->create_publisher<object_msgs::msg::ReidentificationStamped>(
-      "/openvino_toolkit/" + output_name_ + "/reidentified_faces", 16);
+      "openvino_toolkit/" + output_name_ + "/reidentified_faces", 16);
   pub_person_attribs_ = node_->create_publisher<object_msgs::msg::PersonAttributeStamped>(
-      "/openvino_toolkit/" + output_name_ + "/person_attributes", 16);
+      "openvino_toolkit/" + output_name_ + "/person_attributes", 16);
   pub_person_reid_ = node_->create_publisher<object_msgs::msg::ReidentificationStamped>(
-      "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16);
+      "openvino_toolkit/" + output_name_ + "/reidentified_persons", 16);
   pub_segmented_object_ = node_->create_publisher<object_msgs::msg::ObjectsInMasks>(
-      "/openvino_toolkit/" + output_name_ + "/segmented_objects", 16);
+      "openvino_toolkit/" + output_name_ + "/segmented_objects", 16);
   pub_detected_object_ = node_->create_publisher<object_msgs::msg::ObjectsInBoxes>(
-      "/openvino_toolkit/" + output_name_ + "/detected_objects", 16);
+      "openvino_toolkit/" + output_name_ + "/detected_objects", 16);
   pub_face_ =
-      node_->create_publisher<object_msgs::msg::ObjectsInBoxes>("/openvino_toolkit/" + output_name_ + "/faces", 16);
+      node_->create_publisher<object_msgs::msg::ObjectsInBoxes>("openvino_toolkit/" + output_name_ + "/faces", 16);
   pub_emotion_ =
-      node_->create_publisher<object_msgs::msg::EmotionsStamped>("/openvino_toolkit/" + output_name_ + "/emotions", 16);
+      node_->create_publisher<object_msgs::msg::EmotionsStamped>("openvino_toolkit/" + output_name_ + "/emotions", 16);
   pub_age_gender_ = node_->create_publisher<object_msgs::msg::AgeGenderStamped>(
-      "/openvino_toolkit/" + output_name_ + "/age_genders", 16);
+      "openvino_toolkit/" + output_name_ + "/age_genders", 16);
   pub_headpose_ = node_->create_publisher<object_msgs::msg::HeadPoseStamped>(
-      "/openvino_toolkit/" + output_name_ + "/headposes", 16);
+      "openvino_toolkit/" + output_name_ + "/headposes", 16);
   emotions_topic_ = nullptr;
   detected_objects_topic_ = nullptr;
   faces_topic_ = nullptr;

openvino_wrapper_lib/src/outputs/rviz_output.cpp

@@ -33,7 +33,7 @@ Outputs::RvizOutput::RvizOutput(std::string output_name, const rclcpp::Node::Sha
     node_ = rclcpp::Node::make_shared(output_name + "_image_publisher");
   }
   image_topic_ = nullptr;
-  pub_image_ = node_->create_publisher<sensor_msgs::msg::Image>("/openvino_toolkit/" + output_name_ + "/images", 16);
+  pub_image_ = node_->create_publisher<sensor_msgs::msg::Image>("openvino_toolkit/" + output_name_ + "/images", 16);
   image_window_output_ = std::make_shared<Outputs::ImageWindowOutput>(output_name_, 950);
 }
 

openvino_wrapper_lib/src/services/frame_processing_server.cpp

@@ -55,7 +55,7 @@ void FrameProcessingServer<T>::initService(const std::string& config_path)
     PipelineManager::getInstance().createPipeline(p);
   }
 
-  service_ = create_service<T>("/openvino_toolkit/service", std::bind(&FrameProcessingServer::cbService, this,
+  service_ = create_service<T>("openvino_toolkit/service", std::bind(&FrameProcessingServer::cbService, this,
                                                                       std::placeholders::_1, std::placeholders::_2));
 }
 

openvino_wrapper_lib/src/services/pipeline_processing_server.cpp

@@ -41,7 +41,7 @@ template <typename T>
 void PipelineProcessingServer<T>::initPipelineService()
 {
   service_ =
-      create_service<T>("/openvino_toolkit/pipeline_service", std::bind(&PipelineProcessingServer::cbService, this,
+      create_service<T>("openvino_toolkit/pipeline_service", std::bind(&PipelineProcessingServer::cbService, this,
                                                                         std::placeholders::_1, std::placeholders::_2));
 }
 

sample/launch/pipeline_image.launch.py

@@ -35,17 +35,18 @@ def generate_launch_description():
         launch_ros.actions.Node(
             package='openvino_node',
             executable='pipeline_with_params',
+            #namespace="<namespace>",
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/people/faces',
-                 '/ros2_openvino_toolkit/face_detection'),
-                ('/openvino_toolkit/people/emotions',
-                 '/ros2_openvino_toolkit/emotions_recognition'),
-                ('/openvino_toolkit/people/headposes',
-                 '/ros2_openvino_toolkit/headposes_estimation'),
-                ('/openvino_toolkit/people/age_genders',
-                 '/ros2_openvino_toolkit/people/age_genders_Recognition'),
-                ('/openvino_toolkit/people/images', '/ros2_openvino_toolkit/image_rviz')],
+                ('openvino_toolkit/people/faces',
+                 'ros2_openvino_toolkit/face_detection'),
+                ('openvino_toolkit/people/emotions',
+                 'ros2_openvino_toolkit/emotions_recognition'),
+                ('openvino_toolkit/people/headposes',
+                 'ros2_openvino_toolkit/headposes_estimation'),
+                ('openvino_toolkit/people/age_genders',
+                 'ros2_openvino_toolkit/people/age_genders_Recognition'),
+                ('openvino_toolkit/people/images', 'ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 
         # Rviz

sample/launch/pipeline_object_yolo_topic.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/object/detected_objects',
                  '/ros2_openvino_toolkit/detected_objects'),
                 ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_ci_test.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_image.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_image_ci_test.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_instance.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_instance_ci_test.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_maskrcnn.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/pipeline_segmentation_maskrcnn_ci_test.py

@@ -41,7 +41,7 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/segmentation/segmented_objects',
                  '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],

sample/launch/ros2_openvino_oa.launch.py

@@ -30,7 +30,7 @@ def generate_launch_description():
             package='openvino_node', node_executable='pipeline_with_params',
             arguments=['-config', default_yaml],
             remappings=[
-                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('openvino_toolkit/image_raw', '/camera/color/image_raw'),
                 ('/openvino_toolkit/object/detected_objects',
                  '/ros2_openvino_toolkit/detected_objects'),
                 ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')],

sample/param/pipeline_image.yaml

@@ -38,4 +38,4 @@ Pipelines:
     - left: HeadPoseEstimation
       right: [ImageWindow, RosTopic, RViz]
 
-Common:
+Common:

sample/src/image_object_client.cpp

@@ -34,7 +34,7 @@ int main(int argc, char** argv)
   }
 
   std::string image_path = argv[1];
-  auto client = node->create_client<object_msgs::srv::DetectObject>("/openvino_toolkit/service");
+  auto client = node->create_client<object_msgs::srv::DetectObject>("openvino_toolkit/service");
   auto request = std::make_shared<object_msgs::srv::DetectObject::Request>();
 
   request->image_path = image_path;

sample/src/image_people_client.cpp

@@ -38,7 +38,7 @@ int main(int argc, char** argv)
 
   std::string image_path = argv[1];
 
-  auto client = node->create_client<object_msgs::srv::People>("/openvino_toolkit/service");
+  auto client = node->create_client<object_msgs::srv::People>("openvino_toolkit/service");
   auto request = std::make_shared<object_msgs::srv::People::Request>();
   request->image_path = image_path;
 

script/viewer/service.py

@@ -47,7 +47,7 @@ def usage():
 
 rclpy.init(args=None)
 node = rclpy.create_node('pipeline_client')
-cli = node.create_client(PipelineSrv, '/openvino_toolkit/pipeline_service')
+cli = node.create_client(PipelineSrv, 'openvino_toolkit/pipeline_service')
 
 
 if __name__ == "__main__":

tests/src/service/unittest_objectService.cpp

@@ -36,7 +36,7 @@ TEST(UnitTestObject, testObject)
 {
   auto node = rclcpp::Node::make_shared("openvino_object_service_test");
 
-  auto client = node->create_client<object_msgs::srv::DetectObject>("/openvino_toolkit/service");
+  auto client = node->create_client<object_msgs::srv::DetectObject>("openvino_toolkit/service");
 
   ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20)));
 

tests/src/service/unittest_peopleService.cpp

@@ -38,7 +38,7 @@ TEST(UnitTestPeople, testPeople)
 {
   auto node = rclcpp::Node::make_shared("openvino_people_service_test");
 
-  auto client = node->create_client<object_msgs::srv::People>("/openvino_toolkit/service");
+  auto client = node->create_client<object_msgs::srv::People>("openvino_toolkit/service");
 
   ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20)));
 

tests/src/topic/unittest_faceDetectionCheck.cpp

@@ -79,7 +79,7 @@ TEST(UnitTestFaceDetection, testFaceDetection)
   executor.add_node(node);
 
   {
-    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("/ros2_openvino_toolkit/face_detection",
+    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("ros2_openvino_toolkit/face_detection",
                                                                             qos, openvino_faceDetection_callback);
 
     executor.spin_once(std::chrono::seconds(0));
@@ -108,7 +108,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection)
 
   {
     auto sub2 = node->create_subscription<object_msgs::msg::EmotionsStamped>(
-        "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback);
+        "ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -135,7 +135,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection)
 
   {
     auto sub3 = node->create_subscription<object_msgs::msg::AgeGenderStamped>(
-        "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback);
+        "ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -162,7 +162,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection)
 
   {
     auto sub4 = node->create_subscription<object_msgs::msg::HeadPoseStamped>(
-        "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback);
+        "ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 

tests/src/topic/unittest_face_reidentification.cpp

@@ -79,7 +79,7 @@ TEST(UnitTestFaceReidentification, testFaceDetection)
 
   {
     auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>(
-        "/ros2_openvino_toolkit/face_detection", rclcpp::QoS(1), openvino_face_detection_callback);
+        "ros2_openvino_toolkit/face_detection", rclcpp::QoS(1), openvino_face_detection_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -107,7 +107,7 @@ TEST(UnitTestFaceReidentification, testLandmarkDetection)
 
   {
     auto sub1 = node->create_subscription<object_msgs::msg::LandmarkStamped>(
-        "/ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback);
+        "ros2_openvino_toolkit/detected_landmarks", qos, openvino_landmark_detection_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -135,7 +135,7 @@ TEST(UnitTestFaceReidentification, testReidentification)
 
   {
     auto sub1 = node->create_subscription<object_msgs::msg::ReidentificationStamped>(
-        "/ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback);
+        "ros2_openvino_toolkit/reidentified_faces", qos, openvino_face_reidentification_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 

tests/src/topic/unittest_imageCheck.cpp

@@ -79,7 +79,7 @@ TEST(UnitTestFaceDetection, testFaceDetection)
   executor.add_node(node);
 
   {
-    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("/ros2_openvino_toolkit/face_detection",
+    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("ros2_openvino_toolkit/face_detection",
                                                                             qos, openvino_faceDetection_callback);
 
     executor.spin_once(std::chrono::seconds(0));
@@ -108,7 +108,7 @@ TEST(UnitTestFaceDetection, testEmotionDetection)
 
   {
     auto sub2 = node->create_subscription<object_msgs::msg::EmotionsStamped>(
-        "/ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback);
+        "ros2_openvino_toolkit/emotions_recognition", qos, openvino_emotionRecognition_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -135,7 +135,7 @@ TEST(UnitTestFaceDetection, testageGenderDetection)
 
   {
     auto sub3 = node->create_subscription<object_msgs::msg::AgeGenderStamped>(
-        "/ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback);
+        "ros2_openvino_toolkit/age_genders_Recognition", qos, openvino_ageGender_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 
@@ -162,7 +162,7 @@ TEST(UnitTestFaceDetection, testheadPoseDetection)
 
   {
     auto sub4 = node->create_subscription<object_msgs::msg::HeadPoseStamped>(
-        "/ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback);
+        "ros2_openvino_toolkit/headposes_estimation", qos, openvino_headPose_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 

tests/src/topic/unittest_objectDetectionCheck.cpp

@@ -71,7 +71,7 @@ TEST(UnitTestObjectDetection, testObjectDetection)
   executor.add_node(node);
 
   {
-    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("/ros2_openvino_toolkit/detected_objects",
+    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInBoxes>("ros2_openvino_toolkit/detected_objects",
                                                                             qos, openvino_faceDetection_callback);
 
     executor.spin_once(std::chrono::seconds(0));

tests/src/topic/unittest_reidentification.cpp

@@ -76,7 +76,7 @@ TEST(UnitTestPersonReidentification, testReidentification)
 
   {
     auto sub1 = node->create_subscription<object_msgs::msg::ReidentificationStamped>(
-        "/ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback);
+        "ros2_openvino_toolkit/reidentified_persons", qos, openvino_reidentification_callback);
 
     executor.spin_once(std::chrono::seconds(0));
 

tests/src/topic/unittest_segmentationCheck.cpp

@@ -72,7 +72,7 @@ TEST(UnitTestObjectDetection, testObjectDetection)
   executor.add_node(node);
 
   {
-    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInMasks>("/ros2_openvino_toolkit/segmented_objects",
+    auto sub1 = node->create_subscription<object_msgs::msg::ObjectsInMasks>("ros2_openvino_toolkit/segmented_objects",
                                                                             qos, openvino_faceDetection_callback);
 
     executor.spin_once(std::chrono::seconds(0));