Adding the yolov8n-seg for github action CI

Signed-off-by: huangjiafengx <[email protected]>

Author: huangjiafengx

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

@@ -15,7 +15,8 @@ def main():
                  Test_Cases('test_6_pipeline_person_attributes_ci'),
                  Test_Cases('test_7_pipeline_segmentation_image_ci'),
                  Test_Cases('test_8_pipeline_object_yolov5_ci'),
-                 Test_Cases('test_9_pipeline_object_yolov8_ci')]
+                 Test_Cases('test_9_pipeline_object_yolov8_ci'),
+                 Test_Cases('test_10_pipeline_segmentation_instance_ci')]
     suite.addTests(all_cases)
 
     with (open('./result.html', 'wb')) as fp:

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

@@ -97,6 +97,12 @@ def test_9_pipeline_object_yolov8_ci(self):
         log_file = f"/root/test_cases/log/pipeline_object_yolov8_test_ci.log"
         self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
 
+    def test_10_pipeline_segmentation_instance_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/detected_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):

.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov8_model_download.sh

@@ -12,10 +12,13 @@ source openvino_env/bin/activate
 #Export a YOLOv8n model to a different format like ONNX, CoreML, etc.
 # export official model
 yolo export model=yolov8n.pt format=openvino
+yolo export model=yolov8n-seg.pt format=openvino
 
 
 # Move to the Recommended Model Path
 mkdir -p  /opt/openvino_toolkit/models/convert/public/FP32/yolov8n
+mkdir -p  /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg
 
 cp yolov8n_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n
+cp yolov8n-seg_openvino_model/* /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg
 

sample/launch/pipeline_segmentation_instance_ci_test.py

@@ -0,0 +1,55 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_segmentation.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+    	launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_segmentation_instance_yolov8_seg_ci.yaml')),
+        # Realsense
+        # NOTE: Split realsense_node launching from OpenVINO package, which
+		# will be launched by RDK launching file or manually.
+
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            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/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+        #    package='rviz2',
+        #    executable='rviz2', output='screen',
+        #    arguments=['--display-config', default_rviz]),
+    ])

sample/param/pipeline_segmentation_instance_yolov8_seg_ci.yaml

@@ -0,0 +1,24 @@
+Pipelines:
+- name: segmentation
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+
+  infers:
+    - name: ObjectSegmentationInstance
+      # for Yolov8 Seg models -----------------
+      model: /opt/openvino_toolkit/models/convert/public/FP32/yolov8n-seg/yolov8n-seg.xml
+      model_type: yolov8
+      label: /opt/openvino_toolkit/labels/object_detection/coco.names
+      engine: CPU #"HETERO:CPU,GPU," #"HETERO:CPU,GPU,MYRIAD"
+      batch: 1
+      confidence_threshold: 0.5
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [ObjectSegmentationInstance]
+    - left: ObjectSegmentationInstance
+      right: [ImageWindow]
+    - left: ObjectSegmentationInstance
+      right: [RosTopic]
+
+Common: