merge branch ROS2 to branch master

.ci_local_test/Jenkinsfile

@@ -3,28 +3,62 @@ pipeline {
     environment {
         // Test_Server is the local test machine.
         Test_Server = "robotics-testNUC11"
-        WORKSPACE_PATH = "/home/intel/ros2_openvino_toolkit"
+        Test_WORKSPACE = "/home/intel/ros2_openvino_toolkit_test"
     }
     stages {
-        stage('Test Ros2 Galatic') {
+       stage('Check The Conflict') {
             steps {
                 script {
-                    def flag = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && docker images | grep ros2_openvino_test'", returnStatus: true
-                    if (flag == 0) {
-                        docker rmi -f ros2_openvino_test
-                    }
-                    def test_result = sh script: "ssh intel@$Test_Server 'cd $WORKSPACE_PATH && ./self_host_test_ros2_openvino.sh '", returnStatus: true
+                    sh script: "ssh intel@$Test_Server 'cd $Test_WORKSPACE && ./check_conflict.sh'", returnStatus: true
+                    echo "no conflict, the task continue"
+                }
+            }
+        }
+        stage('Get The env') {
+            steps {
+                script {
+                    // rm the old env
+                    sh script: "ssh intel@$Test_Server 'rm -rf $Test_WORKSPACE/env'", returnStatus: true
+                    // get new env
+                    sh script: "export | tee -a env", returnStatus: true
+                    sh script: "scp -r env intel@$Test_Server:$Test_WORKSPACE", returnStatus: true
+                }
+            }
+        }
+        stage('Moving The Code To Test Machine') {
+            steps {
+                script {
+                    sh script: "ssh intel@$Test_Server 'rm -rf $Test_WORKSPACE/ros2_openvino_toolkit'", returnStatus: true
+                    sh script: "scp -r $WORKSPACE intel@$Test_Server:$Test_WORKSPACE/ros2_openvino_toolkit", returnStatus: true
+                    // sh script: "ssh intel@$Test_Server 'docker cp $Test_WORKSPACE/ros2_openvino_toolkit:/root/catkin_ws/src'", returnStatus: true
+                }
+            }
+        }
+        stage('Klocwork Code check') {
+            steps {
+                script {
+                    echo 'klocwork code check'
+                    sh script: "sudo docker cp $WORKSPACE klocwork_test:/home/intel/catkin_ws/src/ros2_openvino_toolkit", returnStatus: true
+                    sh script: "sudo docker exec -i klocwork_test bash -c 'source ~/.bashrc && cd catkin_ws && ./klocwork_scan.sh'", returnStatus: true
+                }
+
+            }
+        }
+        stage('The Ros2_openvino container run') {
+            steps {
+                script {
+                    def test_result = sh script: "ssh intel@$Test_Server 'cd $Test_WORKSPACE && ./self_container_ros2_openvino_test.sh '", returnStatus: true
                     if (test_result == 0) {
                         echo "test pass"
                     } else {
                         echo "test fail"
                         exit -1
                     }
-                
+
                 }
+
             }
         }
-
     }
 
 }

.ci_local_test/ros2_openvino_toolkit_test/Dockerfile

@@ -0,0 +1,68 @@
+# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
+
+ARG ROS_PRE_INSTALLED_PKG
+FROM osrf/ros:${ROS_PRE_INSTALLED_PKG}
+ARG VERSION
+
+# setting proxy env --option 
+# If needed, enable the below ENV setting by correct proxies.
+# ENV HTTP_PROXY="your_proxy"
+# ENV HTTPS_PROXY="your_proxy"
+# ENV FTP_PROXY="your_proxy"
+
+# author information
+LABEL author="Jiawei Wu <[email protected]>"
+
+# default shell type
+SHELL ["/bin/bash", "-c"]
+
+# ignore the warning
+ARG DEBIAN_FRONTEND=noninteractive
+ARG APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1
+RUN apt-get update && apt-get install --assume-yes apt-utils
+
+# install openvino 2022.3
+# https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html
+RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release
+RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
+apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list
+RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0
+
+# install librealsense2
+RUN apt-get install -y --no-install-recommends \
+software-properties-common 
+# https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
+# Make sure you set http-proxy in below commands if your environment needs.
+# RUN apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE 
+RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
+RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ 
+&& apt-get install -y --no-install-recommends \
+librealsense2-dkms \
+librealsense2-utils \
+librealsense2-dev \
+librealsense2-dbg \
+libgflags-dev \
+libboost-all-dev \
+&& rm -rf /var/lib/apt/lists/*
+
+# other dependencies
+RUN apt-get update && apt-get install -y python3-pip && python3 -m pip install -U \
+numpy \
+networkx \
+pyyaml \
+requests \
+&& apt-get install -y --no-install-recommends libboost-all-dev
+WORKDIR /usr/lib/x86_64-linux-gnu
+RUN pip install --upgrade pip
+RUN pip install openvino-dev[tensorflow2]==2022.3
+
+# build ros2 openvino toolkit
+WORKDIR /root
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \
+&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git
+RUN apt-get install ros-${VERSION}-diagnostic-updater
+WORKDIR /root/catkin_ws
+RUN source /opt/ros/${VERSION}/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+

.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+
+export DISPLAY=:0
+
+export work_dir=$PWD
+
+
+function run_container() {
+
+    docker images | grep ros2_openvino_docker
+
+    if [ $? -eq 0 ]
+    then
+        echo "the image of ros2_openvino_docker:01 existence"
+        docker rmi -f ros2_openvino_docker:01
+    fi
+
+    docker ps -a | grep ros2_openvino_container
+    if [ $? -eq 0 ]
+    then
+        docker rm -f ros2_openvino_container
+    fi
+    # Using jenkins server ros2_openvino_toolkit code instead of git clone code.
+    cd $work_dir && sed -i '/ros2_openvino_toolkit.git/d' Dockerfile
+    # remove the "\"
+    cd $work_dir && sed -i 's#ros2_object_msgs.git \\#ros2_object_msgs.git#' Dockerfile
+    # add the jpg for test.
+    cd $work_dir && sed -i '$i COPY jpg /root/jpg' Dockerfile
+
+    cd $work_dir && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
+    docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v /tmp/.X11-unix:/tmp/.X11-unix  -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE  -v $work_dir/test_cases:/root/test_cases --name ros2_openvino_container  ros2_openvino_docker:01 bash -c "cd /root/test_cases && ./run.sh galactic"
+
+}
+
+run_container
+if [ $? -ne 0 ]
+then
+  echo "Test fail"
+  exit -1
+fi
+
+

.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh

@@ -0,0 +1,13 @@
+#/bin/bash
+
+if [[ $1 == '' ]]
+then
+    export ros2_branch=galactic
+else
+    export ros2_branch=$1
+fi
+
+export dynamic_vino_sample=/root/catkin_ws/install/openvino_node/share/openvino_node
+
+
+source /opt/ros/$ros2_branch/setup.bash

.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+mkdir -p /opt/openvino_toolkit/models
+#apt install -y python-pip
+apt install -y python3.8-venv
+cd ~ && python3 -m venv openvino_env && source openvino_env/bin/activate
+python -m pip install --upgrade pip
+pip install openvino-dev[tensorflow2,mxnet,caffe]
+
+
+#Download the optimized Intermediate Representation (IR) of model (execute once)
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/
+
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert
+
+
+#Copy label files (execute once)
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP32/
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/
+cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32
+
+mkdir -p /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/
+cp /opt/openvino_toolkit/models/convert/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/* /opt/openvino_toolkit/models/public/mask_rcnn_inception_resnet_v2_atrous_coco/FP16/
+
+cd /root/test_cases/ && ./yolov5_model_download.sh
+

.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+export ros2_branch=$1
+if [[ $1 == '' ]]
+then
+    export ros2_branch=galactic
+else
+    export ros2_branch=$1
+fi
+source /root/test_cases/config.sh $ros2_branch
+
+cd /root/catkin_ws && colcon build --symlink-install
+cd /root/catkin_ws && source ./install/local_setup.bash
+
+apt-get update
+# apt-get install -y ros-$ros2_branch-diagnostic-updater
+apt-get install python3-defusedxml
+apt-get install -y python3-pip
+pip3 install XTestRunner==1.5.0
+
+cd /root/test_cases && ./ros2_openvino_tool_model_download.sh
+mkdir -p /root/test_cases/log
+echo "===cat pipeline_people_ci.yaml"
+cat /root/catkin_ws/install/openvino_node/share/openvino_node/param/pipeline_people_ci.yaml
+
+cd /root/test_cases/unittest && python3 run_all.py
+result=$?
+#echo "cat segmentation maskrcnn"
+#cat /root/test_cases/log/pipeline_segmentation_maskrcnn_test_ci.log
+if [ $result -ne 0 ]
+then
+        exit -1
+fi
+

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

@@ -0,0 +1,45 @@
+#!/usr/opt/python3
+import unittest
+from test_cases import Test_Cases
+from XTestRunner import HTMLTestRunner
+
+def main():
+
+    suite = unittest.TestSuite()
+
+    all_cases = [Test_Cases('test_1_pipeline_people_ci'),
+                 Test_Cases('test_2_pipeline_reidentification_ci'),
+                 Test_Cases('test_3_pipeline_image_ci'),
+                 Test_Cases('test_4_pipeline_segmentation_ci'),
+                 Test_Cases('test_5_pipeline_vehicle_detection_ci'),
+                 Test_Cases('test_6_pipeline_person_attributes_ci'),
+                 Test_Cases('test_7_pipeline_segmentation_image_ci'),
+                 Test_Cases('test_8_pipeline_object_yolo_ci')]
+    suite.addTests(all_cases)
+
+    with (open('./result.html', 'wb')) as fp:
+        runner = HTMLTestRunner(
+            stream=fp,
+            title='ROS2 Openvino Test Report',
+            description='Test ROS2-galactic openvino all cases',
+            language='en',
+        )
+        result = runner.run(
+            testlist=suite,
+            rerun=1,
+            save_last_run=False
+        )
+
+    failure_count = len(all_cases) - result.success_count
+    print(f"all count: {len(all_cases)}")
+    print(f"success count: {result.success_count}")
+    print(f"failure count: {failure_count}")
+    if result.success_count == len(all_cases) and failure_count == 0:
+        print(f"Test ALL PASS")
+    else:
+        print(f"Test FAIL")
+        exit(-1)
+
+if __name__=="__main__":
+    main()
+