intel · LewisLiuPub · Sep 16, 2021 · Sep 8, 2021 · Sep 8, 2021 · Sep 8, 2021
diff --git a/README.md b/README.md
@@ -5,6 +5,7 @@ ROS2 Version supported:
 * [x] ROS2 Dashing
 * [x] ROS2 Eloquent
 * [x] ROS2 Foxy
+* [x] ROS2 Galactic
 
 Inference Features supported:
 
@@ -26,10 +27,10 @@ See more from [here](https://github.com/openvinotoolkit/openvino) for Intel Open
 
 ## Prerequisite
 
-* Processor: A platform with Intel processors assembled. (see [here](https://software.intel.com/content/www/us/en/develop/articles/openvino-2020-3-lts-relnotes.html) for the full list of Intel processors supported.)
+* Processor: A platform with Intel processors assembled. (see [here](https://software.intel.com/content/www/us/en/develop/articles/openvino-2021-4-lts-relnotes.html) for the full list of Intel processors supported.)
 * OS: Ubuntu 20.04
-* ROS2: Foxy Fitzroy
-* OpenVINO: V2021.3, see [the release notes](https://software.intel.com/content/www/us/en/develop/articles/openvino-relnotes.html)  for more info.
+* ROS2: Galactic Geochelone
+* OpenVINO: V2021.4, see [the release notes](https://software.intel.com/content/www/us/en/develop/articles/openvino-relnotes.html)  for more info.
 * [Optional] RealSense D400 Series Camera
 * [Optional] Intel NCS2 Stick
 ## Tables of contents
@@ -40,10 +41,9 @@ See more from [here](https://github.com/openvinotoolkit/openvino) for Intel Open
   - [How to create multiple pipelines in a process?](./doc/tables_of_contents/tutorials/Multiple_Pipelines.md)
 
 ## Installation & Launching
-See Getting Start Pages for [ROS2 Dashing](./doc/getting_started_with_Dashing.md) or [ROS2 Foxy](./doc/getting_started_with_Foxy_Ubuntu20.04.md) for detailed installation & lauching instructions.
+See Getting Start Pages for [ROS2 Dashing](./doc/getting_started_with_Dashing.md) or [ROS2 Foxy](./doc/getting_started_with_Foxy_Ubuntu20.04.md) or [ROS2 Galactic](./doc/getting_started_with_Galactic_Ubuntu20.04.md) for detailed installation & lauching instructions.
 
 # More Information
-* ROS2 OpenVINO discription writen in Chinese: https://mp.weixin.qq.com/s/BgG3RGauv5pmHzV_hkVAdw 
+* ROS2 OpenVINO discription writen in Chinese: https://mp.weixin.qq.com/s/BgG3RGauv5pmHzV_hkVAdw
 
 ###### *Any security issue should be reported using process at https://01.org/security*
-
diff --git a/doc/getting_started_with_Galactic_Ubuntu20.04.md b/doc/getting_started_with_Galactic_Ubuntu20.04.md
@@ -0,0 +1,117 @@
+# ROS2_GALACTIC_OpenVINO_Toolkit
+
+**NOTE:**
+Below steps have been tested on **Ubuntu 20.04**.
+
+## 1. Environment Setup
+* Install ROS2 Galactic ([guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html))
+* Install Intel® OpenVINO™ Toolkit Version: 2021.4 ([guide](https://docs.openvinotoolkit.org/latest/openvino_docs_install_guides_installing_openvino_apt.html)) or building by source code ([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingForLinux))
+* Install Intel®  RealSense ™ SDK ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md))
+
+## 2. Building and Installation
+* Build demo code in OpenVINO toolkit
+```
+ # root is required instead of sudo
+ source /opt/intel/<INSTALL_DIR>/bin/setupvars.sh
+ cd /opt/intel/<INSTALL_DIR>/deployment_tools/open_model_zoo/demos
+ source build_demos.sh
+```
+* Install ROS2_OpenVINO packages
+```
+mkdir -p ~/my_ros2_ws/src
+cd ~/my_ros2_ws/src
+git clone https://github.com/intel/ros2_openvino_toolkit -b dev-ov.2021.4
+git clone https://github.com/intel/ros2_object_msgs
+git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2
+```
+* Build package
+```
+source /opt/ros/galactic/setup.bash 
+source /opt/intel/<INSTALL_DIR>/bin/setupvars.sh
+cd ~/my_ros2_ws/src
+colcon build --symlink-install
+source ./install/local_setup.bash
+```
+
+## 3. Running the Demo
+* Preparation
+ * Configure the Neural Compute Stick USB Driver (if needed)
+```
+  cd ~/Downloads
+  cat <<EOF > 97-usbboot.rules
+  SUBSYSTEM=="usb", ATTRS{idProduct}=="2150", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+  SUBSYSTEM=="usb", ATTRS{idProduct}=="2485", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+  SUBSYSTEM=="usb", ATTRS{idProduct}=="f63b", ATTRS{idVendor}=="03e7", GROUP="users", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
+  EOF
+  sudo cp 97-usbboot.rules /etc/udev/rules.d/
+  sudo udevadm control --reload-rules
+  sudo udevadm trigger
+  sudo ldconfig
+  rm 97-usbboot.rules
+```
+
+* See all available models
+```
+cd /opt/intel/<INSTALL_DIR>/deployment_tools/open_model_zoo/tools/downloader
+sudo python3 downloader.py --print_all
+```
+
+* Download the optimized Intermediate Representation (IR) of model (execute once), for example:
+```
+cd /opt/intel/<INSTALL_DIR>/deployment_tools/open_model_zoo/tools/downloader
+sudo python3 downloader.py --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output
+```
+
+* copy label files (execute once)
+```
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/emotions-recognition/FP32/emotions-recognition-retail-0003.labels /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
+ sudo cp ~/my_ros2_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
+```
+
+* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi)need to be converted to intermediate representation (For example the model for object detection)
+```
+ sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output
+ cd /opt/intel/<INSTALL_DIR>/deployment_tools/model_optimizer
+ sudo python3 mo.py --input_model /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/caffe/output
+```
+
+* Before launch, check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml, make sure the paramter like model path, label path, inputs are right.
+* run face detection sample code input from StandardCamera.
+```
+ros2 launch dynamic_vino_sample pipeline_people.launch.py
+```
+* run face detection sample code input from Image.
+```
+ros2 launch dynamic_vino_sample pipeline_image.launch.py
+```
+* run object segmentation sample code input from RealSenseCameraTopic.
+```
+ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py
+```
+* run object segmentation sample code input from Image.
+```
+ros2 launch dynamic_vino_sample pipeline_segmentation_image.launch.py
+```
+* run vehicle detection sample code input from StandardCamera.
+```
+ros2 launch dynamic_vino_sample pipeline_vehicle_detection.launch.py
+```
+* run person attributes sample code input from StandardCamera.
+```
+ros2 launch dynamic_vino_sample pipeline_person_attributes.launch.py
+```
+* run person reidentification sample code input from StandardCamera.
+```
+ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py
+```
+
+# More Information
+* ROS2 OpenVINO discription writen in Chinese: https://mp.weixin.qq.com/s/BgG3RGauv5pmHzV_hkVAdw
+
+###### *Any security issue should be reported using process at https://01.org/security*
diff --git a/sample/src/image_object_client.cpp b/sample/src/image_object_client.cpp
@@ -48,7 +48,7 @@ int main(int argc, char ** argv)
 
   auto result = client->async_send_request(request);
   if (rclcpp::spin_until_future_complete(node, result) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     auto srv = result.get();
 

diff --git a/sample/src/image_people_client.cpp b/sample/src/image_people_client.cpp
@@ -52,7 +52,7 @@ int main(int argc, char ** argv)
   auto result = client->async_send_request(request);
 
   if (rclcpp::spin_until_future_complete(node, result) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
+    rclcpp::FutureReturnCode::SUCCESS)
   {
     auto people = result.get();
     if (people->persons.emotions.size() == 0 && people->persons.agegenders.size() == 0 &&

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -26,7 +26,7 @@ set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
 ####################################
 
 message(STATUS "Looking for inference engine configuration file at: ${CMAKE_PREFIX_PATH}")
-find_package(InferenceEngine 1.1)
+find_package(InferenceEngine)
 if(NOT InferenceEngine_FOUND)
     message(FATAL_ERROR "")
 endif()

diff --git a/tests/src/service/unittest_objectService.cpp b/tests/src/service/unittest_objectService.cpp
@@ -49,7 +49,7 @@ TEST(UnitTestObject, testObject)
   auto result = client->async_send_request(request);
 
   ASSERT_EQ(
-    rclcpp::executor::FutureReturnCode::SUCCESS,
+    rclcpp::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, result));
 
   auto srv = result.get();

diff --git a/tests/src/service/unittest_peopleService.cpp b/tests/src/service/unittest_peopleService.cpp
@@ -51,7 +51,7 @@ TEST(UnitTestPeople, testPeople)
   auto result = client->async_send_request(request);
 
   ASSERT_EQ(
-    rclcpp::executor::FutureReturnCode::SUCCESS,
+    rclcpp::FutureReturnCode::SUCCESS,
     rclcpp::spin_until_future_complete(node, result));
 
   auto srv = result.get();

diff --git a/tests/src/topic/unittest_faceDetectionCheck.cpp b/tests/src/topic/unittest_faceDetectionCheck.cpp
@@ -51,11 +51,11 @@ static bool headPose_test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_face_reidentification.cpp b/tests/src/topic/unittest_face_reidentification.cpp
@@ -50,11 +50,11 @@ static bool test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_imageCheck.cpp b/tests/src/topic/unittest_imageCheck.cpp
@@ -51,11 +51,11 @@ static bool headPose_test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_objectDetectionCheck.cpp b/tests/src/topic/unittest_objectDetectionCheck.cpp
@@ -43,11 +43,11 @@ static bool test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_reidentification.cpp b/tests/src/topic/unittest_reidentification.cpp
@@ -46,11 +46,11 @@ static bool test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_segmentationCheck.cpp b/tests/src/topic/unittest_segmentationCheck.cpp
@@ -44,11 +44,11 @@ static bool test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;

diff --git a/tests/src/topic/unittest_vehicleDetectionCheck.cpp b/tests/src/topic/unittest_vehicleDetectionCheck.cpp
@@ -48,11 +48,11 @@ static bool test_pass = false;
 
 template<typename DurationT>
 void wait_for_future(
-  rclcpp::executor::Executor & executor, std::shared_future<bool> & future,
+  rclcpp::Executor & executor, std::shared_future<bool> & future,
   const DurationT & timeout)
 {
-  using rclcpp::executor::FutureReturnCode;
-  rclcpp::executor::FutureReturnCode future_ret;
+  using rclcpp::FutureReturnCode;
+  rclcpp::FutureReturnCode future_ret;
   auto start_time = std::chrono::steady_clock::now();
   future_ret = executor.spin_until_future_complete(future, timeout);
   auto elapsed_time = std::chrono::steady_clock::now() - start_time;