[OSS] [ROS2OV_Team1] Fix typo in the ros topic name '/segmented_objects'

.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py

@@ -15,7 +15,7 @@ def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']):
             sleep(3)
             print(f"{topic} {name}.log")
             subprocess.Popen([f"ros2 topic echo {topic} > {name}.log &"], shell=True)
-            if name == "segmented_obejcts":
+            if name == "segmented_objects":
                 subprocess.Popen([f"ros2 topic echo {topic} >> {name}.log &"], shell=True)
         kill_ros2_process()
         print(f"kill the test process done")
@@ -60,7 +60,7 @@ def test_3_pipeline_image_ci(self):
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
 
     def test_4_pipeline_segmentation_ci(self):
-        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        topic_ls = ["/ros2_openvino_toolkit/segmented_objects"]
         launch_file = f"pipeline_segmentation_ci_test.py"
         log_file = f"/root/test_cases/log/pipeline_segmentation_test_ci.log"
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
@@ -80,7 +80,7 @@ def test_6_pipeline_person_attributes_ci(self):
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
 
     def test_7_pipeline_segmentation_image_ci(self):
-        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        topic_ls = ["/ros2_openvino_toolkit/segmented_objects"]
         launch_file = f"pipeline_segmentation_image_ci_test.py"
         log_file = f"/root/test_cases/log/pipeline_segmentation_image_test_ci.log"
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
@@ -98,15 +98,15 @@ def test_9_pipeline_object_yolov8_ci(self):
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
 
     def test_10_pipeline_segmentation_instance_ci(self):
-        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        topic_ls = ["/ros2_openvino_toolkit/segmented_objects"]
         launch_file = f"pipeline_segmentation_instance_ci_test.py"
         log_file = f"/root/test_cases/log/pipeline_segmentation_instance.log"
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
 
 
     @unittest.skip("skip case")
     def test_9_pipeline_segmentation_maskrcnn_ci(self):
-        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        topic_ls = ["/ros2_openvino_toolkit/segmented_objects"]
         launch_file = f"pipeline_segmentation_maskrcnn_ci_test.py"
         log_file = f"/root/test_cases/log/pipeline_segmentation_maskrcnn_test_ci.log"
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)

README.md

@@ -182,8 +182,8 @@ Specific topic(s) can be generated and published according to the given inferenc
 |Age and Gender Recognition|```/ros2_openvino_toolkit/age_genders_Recognition```([object_msgs:msg:AgeGenderStamped](../../../object_msgs/msg/AgeGenderStamped.msg))|
 |Head Pose Estimation|```/ros2_openvino_toolkit/headposes_estimation```([object_msgs:msg:HeadPoseStamped](../../../object_msgs/msg/HeadPoseStamped.msg))|
 |Object Detection|```/ros2_openvino_toolkit/detected_objects```([object_msgs::msg::ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))|
-|Object Segmentation|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
-|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_obejcts```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
+|Object Segmentation|```/ros2_openvino_toolkit/segmented_objects```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
+|Object Segmentation Maskrcnn|```/ros2_openvino_toolkit/segmented_objects```([object_msgs::msg::ObjectsInMasks](../../../object_msgs/msg/ObjectsInMasks.msg))|
 |Person Reidentification|```/ros2_openvino_toolkit/reidentified_persons```([object_msgs::msg::ReidentificationStamped](../../../object_msgs/msg/ReidentificationStamped.msg))|
 |Vehicle Detection|```/ros2_openvino_toolkit/detected_vehicles_attribs```([object_msgs::msg::VehicleAttribsStamped](../../../object_msgs/msg/PersonAttributeStamped.msg))|
 |Vehicle License Detection|```/ros2_openvino_toolkit/detected_license_plates```([object_msgs::msg::LicensePlateStamped](../../../object_msgs/msg/LicensePlateStamped.msg))|

openvino_wrapper_lib/src/outputs/ros_topic_output.cpp

@@ -46,7 +46,7 @@ Outputs::RosTopicOutput::RosTopicOutput(std::string output_name, const rclcpp::N
   pub_person_reid_ = node_->create_publisher<object_msgs::msg::ReidentificationStamped>(
       "/openvino_toolkit/" + output_name_ + "/reidentified_persons", 16);
   pub_segmented_object_ = node_->create_publisher<object_msgs::msg::ObjectsInMasks>(
-      "/openvino_toolkit/" + output_name_ + "/segmented_obejcts", 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);
   pub_face_ =

sample/launch/pipeline_segmentation.launch.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_ci_test.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_image.launch.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_image_ci_test.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_instance.launch.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_instance_ci_test.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_maskrcnn.launch.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_segmentation_maskrcnn_ci_test.py

@@ -42,8 +42,8 @@ def generate_launch_description():
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
                 ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

sample/launch/pipeline_video.launch.py

@@ -37,8 +37,8 @@ def generate_launch_description():
             executable='pipeline_with_params',
             arguments=['-config', LaunchConfiguration('yaml_path')],
             remappings=[
-                ('/openvino_toolkit/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts'),
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects'),
                 ('/openvino_toolkit/segmentation/images', '/ros2_openvino_toolkit/image_rviz')],
             output='screen'),
 

tests/launch/pipeline_segmentation_test.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/segmentation/segmented_obejcts',
-                 '/ros2_openvino_toolkit/segmented_obejcts')],
+                ('/openvino_toolkit/segmentation/segmented_objects',
+                 '/ros2_openvino_toolkit/segmented_objects')],
             output='screen'),
     ])

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_obejcts",
+    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));