Add ROS2 Jazzy Support with OpenVINO 2025.x and Intel NPU Acceleration

.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh

@@ -5,26 +5,63 @@ export work_dir=$PWD
 
 function run_container() 
 { 
-    if docker images -q ros2_openvino_docker:01 &>/dev/null; then
+    if [ -n "$(docker images -q ros2_openvino_docker:01)" ]; then
         echo "The container ros2_openvino_docker:01 image exists"
         docker rmi -f ros2_openvino_docker:01
     fi
 
     docker ps -a | grep ros2_openvino_container
-    if docker ps -aq -f name=ros2_openvino_container; then
+    if [ -n "$(docker ps -aq -f name=ros2_openvino_container)" ]; then
         echo "The container ros2_openvino_container exists. Removing the container..."
         docker rm -f ros2_openvino_container
     fi
 
-    # Removing some docker image ..
-    # Using jenkins server ros2_openvino_toolkit code instead of git clone code.
-    cd "$work_dir" && sed -i '/RUN git clone -b ros2/d' Dockerfile
+    # Removing ros2_openvino_toolkit git clone from Dockerfile
+    # We'll copy it from the host instead (to test local changes)
+    cd "$work_dir" && sed -i '/RUN git clone.*ros2_openvino_toolkit/d' Dockerfile
     # add the jpg for test.
-    cd "$work_dir" && sed -i '$i COPY jpg /root/jpg' Dockerfile
+    cd "$work_dir" && sed -i '/^WORKDIR \/root\/ros2_ws$/a COPY jpg /root/jpg' Dockerfile || \
+    cd "$work_dir" && sed -i '/^WORKDIR \/root\/catkin_ws$/a COPY jpg /root/jpg' Dockerfile
 
-    cd "$work_dir" && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
+    # Detect ROS distro from Dockerfile
+    if grep -q "ros:jazzy" Dockerfile; then
+        ROS_DISTRO="jazzy"
+        WORKSPACE_DIR="ros2_ws"
+    elif grep -q "ros:humble" Dockerfile; then
+        ROS_DISTRO="humble"
+        WORKSPACE_DIR="ros2_ws"
+    elif grep -q "ros:galactic" Dockerfile; then
+        ROS_DISTRO="galactic"
+        WORKSPACE_DIR="catkin_ws"
+    else
+        ROS_DISTRO="galactic"
+        WORKSPACE_DIR="catkin_ws"
+    fi
+
+    cd "$work_dir" && docker build --build-arg ROS_PRE_INSTALLED_PKG=${ROS_DISTRO}-desktop --build-arg VERSION=${ROS_DISTRO}  -t ros2_openvino_docker:01 .
     cd "$work_dir" && docker images
-    docker run -i --privileged=true --device=/dev/dri -v "$work_dir"/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit  -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"
+
+    # Create container in detached mode
+    docker create -i --privileged=true --device=/dev/dri \
+        -v "$work_dir"/ros2_openvino_toolkit:/root/${WORKSPACE_DIR}/src/ros2_openvino_toolkit \
+        -v "$HOME"/.Xauthority:/root/.Xauthority \
+        -e GDK_SCALE \
+        --name ros2_openvino_container \
+        ros2_openvino_docker:01 \
+        bash
+
+    # Copy test files into container
+    docker cp "$work_dir"/test_cases ros2_openvino_container:/root/
+
+    # Start container and fix permissions inside (critical for GitHub Actions)
+    docker start ros2_openvino_container
+    docker exec ros2_openvino_container chmod -R a+rx /root/test_cases
+
+    # Run tests
+    docker exec -i ros2_openvino_container bash -c "cd /root/test_cases && ./run.sh ${ROS_DISTRO}"
+
+    # Stop container (keeps it for debugging)
+    docker stop ros2_openvino_container
 }
 
 if ! run_container; then 

.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh

@@ -7,7 +7,14 @@ else
     export ros2_branch=$1
 fi
 
-export dynamic_vino_sample=/root/catkin_ws/install/openvino_node/share/openvino_node
+# Detect workspace directory based on ROS distro
+if [[ "$ros2_branch" == "jazzy" ]] || [[ "$ros2_branch" == "humble" ]]; then
+    export WORKSPACE_DIR=/root/ros2_ws
+else
+    export WORKSPACE_DIR=/root/catkin_ws
+fi
+
+export dynamic_vino_sample=${WORKSPACE_DIR}/install/openvino_node/share/openvino_node
 
 
 source /opt/ros/$ros2_branch/setup.bash

.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh

@@ -10,20 +10,22 @@ fi
 #shellcheck source=/dev/null
 source /root/test_cases/config.sh "$ros2_branch"
 
-cd /root/catkin_ws && colcon build --symlink-install
+# Clean build artifacts to avoid symlink conflicts
+cd ${WORKSPACE_DIR} && rm -rf build install log
+cd ${WORKSPACE_DIR} && colcon build
 # shellcheck source=/dev/null 
 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-defusedxml
 apt-get install -y python3-pip
-pip3 install XTestRunner==1.5.0
+pip3 install XTestRunner==1.5.0 --break-system-packages
 
 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
+cat ${WORKSPACE_DIR}/install/openvino_node/share/openvino_node/param/pipeline_people_ci.yaml
 
 cd /root/test_cases/unittest && python3 run_all.py
 result=$?

.github/workflows/basic_func_tests.yml

@@ -1,41 +1,35 @@
-# This is a basic workflow to help you get started with Actions
+# GitHub Actions workflow file to run basic functional tests for ros2_openvino_toolkit on multiple Ubuntu versions
 
 name: Basic_Func_CI 
 
-# Controls when the workflow will run
 on:
-  # Triggers the workflow on push or pull request events but only for the "master" branch
   push:
     branches: [ "master", "ros2" ]
   pull_request:
     branches: [ "master", "ros2" ]
-
-  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 permissions:
   contents: read
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # Removed the old artifacts
-  remove-old-artifacts:
-    runs-on: ubuntu-20.04
-    timeout-minutes: 10
-    steps:
-    - name: Remove old artifacts
-      uses: c-hive/gha-remove-artifacts@v1
-      with:
-        age: '15 days'
-  # This workflow contains a single job called "build"
   build:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-20.04
-    # Steps represent a sequence of tasks that will be executed as part of the job
+
+    runs-on: ${{ matrix.ubuntu-version }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ubuntu-version: [ubuntu-22.04, ubuntu-24.04]
+        include:
+          - ubuntu-version: ubuntu-22.04
+            dockerfile: docker/ros2_ov202x/ros2_humble/Dockerfile
+          - ubuntu-version: ubuntu-24.04
+            dockerfile: docker/ros2_ov2025/ros2_jazzy/Dockerfile
+
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
-      # Runs a set of commands using the runners shell
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
       - name: ros2_openvino_toolkit_test
         run: |
             df -h
@@ -45,8 +39,8 @@ jobs:
             mkdir -p ../workspace
             cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace
             cp -r ${GITHUB_WORKSPACE}  ../workspace/ros2_openvino_toolkit_test
-            ls ${GITHUB_WORKSPACE}/docker/Dockerfile
-            cp ${GITHUB_WORKSPACE}/docker/Dockerfile ../workspace/ros2_openvino_toolkit_test
+            ls ${GITHUB_WORKSPACE}/${{ matrix.dockerfile }}
+            cp ${GITHUB_WORKSPACE}/${{ matrix.dockerfile }} ../workspace/ros2_openvino_toolkit_test/Dockerfile
             ls ../workspace/ros2_openvino_toolkit_test/Dockerfile
             cd ../workspace/ros2_openvino_toolkit_test && ./docker_run.sh
 

.github/workflows/code_format.yml

@@ -1,43 +1,35 @@
+# This workflow checks code formatting using clang-format on push and pull request events to the master and ros2 branches.
 
 name: Code_Format_Check
 
-# Controls when the workflow will run
 on:
-  # Triggers the workflow on push or pull request events but only for the "master" branch
   push:
     branches: [ "master", "ros2" ]
   pull_request:
     branches: [ "master", "ros2" ]
-
-  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 permissions:
   contents: read
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # Removed the old artifacts
-  remove-old-artifacts:
+  code-format-check:
     runs-on: ubuntu-22.04
     timeout-minutes: 10
+
     steps:
-    - name: Remove old artifacts
-      uses: c-hive/gha-remove-artifacts@v1
-      with:
-        age: '15 days'
-  pre-commit:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-22.04
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
-      # Runs a set of commands using the runners shell
-      - name: code_format_check
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install clang-format
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format-14
+
+      - name: Run clang-format check
         run: |
-            sudo apt-get install clang-format -y
-            find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format -i -style=file
-            git diff --exit-code
+          FILES=$(find . -type f \( -name '*.h' -o -name '*.hpp' -o -name '*.cpp' \) \
+            ! -path "*/build/*" ! -path "*/install/*" ! -path "*/log/*")
 
+          clang-format --dry-run --Werror -style=file $FILES
 

.github/workflows/ubuntu-22.04-humble.yml

@@ -0,0 +1,55 @@
+name: Ubuntu-22.04-Humble-CI
+
+on:
+  push:
+    branches: [ "ros2" ]
+  pull_request:
+    branches: [ "ros2" ]
+
+permissions: read-all
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: install ros2 humble
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: humble
+    - run: "source /opt/ros/humble/setup.bash && ros2 run --help"
+
+    - name: install openvino 2024.6
+      run: |
+        # https://docs.openvino.ai/2024/get-started/install-openvino/install-openvino-archive-linux.html
+        sudo apt update && sudo apt install -y curl wget gnupg2 lsb-release
+        wget https://storage.openvinotoolkit.org/repositories/openvino/packages/2024.6/linux/l_openvino_toolkit_ubuntu22_2024.6.0.17404.4c0f47d2335_x86_64.tgz
+        tar -xf l_openvino_toolkit_ubuntu22_2024.6.0.17404.4c0f47d2335_x86_64.tgz
+        sudo mkdir -p /opt/intel
+        sudo mv l_openvino_toolkit_ubuntu22_2024.6.0.17404.4c0f47d2335_x86_64 /opt/intel/openvino_2024
+        source /opt/intel/openvino_2024/setupvars.sh
+        ls -lh /opt/intel/openvino_2024
+
+    - name: install librealsense2
+      run: |
+        # https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
+        sudo mkdir -p /etc/apt/keyrings
+        curl -sSf https://librealsense.realsenseai.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
+        echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list
+        sudo apt-get update && sudo apt-get install -y librealsense2-dev librealsense2-utils
+        dpkg -l |grep realsense
+
+    - name: build ros2 openvino toolkit
+      run: |
+        mkdir -p ~/ros2_ws/src
+        env
+        cp -rf ${GITHUB_WORKSPACE} ~/ros2_ws/src
+        cd ~/ros2_ws/src
+        git clone https://github.com/intel/ros2_object_msgs.git
+        cd ros2_object_msgs && git checkout ros2 && cd ~/ros2_ws/
+        source /opt/ros/humble/setup.bash
+        source /opt/intel/openvino_2024/setupvars.sh
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

.github/workflows/ubuntu-24.04-jazzy.yml

@@ -0,0 +1,55 @@
+name: Ubuntu-24.04-Jazzy-CI
+
+on:
+  push:
+    branches: [ "ros2" ]
+  pull_request:
+    branches: [ "ros2" ]
+
+permissions: read-all
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: install ros2 jazzy
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: jazzy
+    - run: "source /opt/ros/jazzy/setup.bash && ros2 run --help"
+
+    - name: install openvino 2025.4
+      run: |
+        # https://docs.openvino.ai/2025/get-started/install-openvino/install-openvino-archive-linux.html
+        sudo apt update && sudo apt install -y curl wget gnupg2 lsb-release
+        wget https://storage.openvinotoolkit.org/repositories/openvino/packages/2025.4/linux/openvino_toolkit_ubuntu24_2025.4.0.20398.8fdad55727d_x86_64.tgz
+        tar -xf openvino_toolkit_ubuntu24_2025.4.0.20398.8fdad55727d_x86_64.tgz
+        sudo mkdir -p /opt/intel
+        sudo mv openvino_toolkit_ubuntu24_2025.4.0.20398.8fdad55727d_x86_64 /opt/intel/openvino_2025
+        source /opt/intel/openvino_2025/setupvars.sh
+        ls -lh /opt/intel/openvino_2025
+
+    - name: install librealsense2
+      run: |
+        # Install from Intel apt repository for Ubuntu 24.04 (noble)
+        sudo mkdir -p /etc/apt/keyrings
+        curl -sSf https://librealsense.realsenseai.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
+        echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list
+        sudo apt-get update
+        sudo apt-get install -y librealsense2-dev librealsense2-utils
+
+    - name: build ros2 openvino toolkit
+      run: |
+        mkdir -p ~/ros2_ws/src
+        env
+        cp -rf ${GITHUB_WORKSPACE} ~/ros2_ws/src
+        cd ~/ros2_ws/src
+        git clone https://github.com/intel/ros2_object_msgs.git
+        cd ros2_object_msgs && git checkout ros2 && cd ~/ros2_ws/
+        source /opt/ros/jazzy/setup.bash
+        source /opt/intel/openvino_2025/setupvars.sh
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

.gitignore

@@ -2,3 +2,9 @@
 *.vscode
 microsoft.gpg
 *.swp
+/install
+/log
+/build
+__pycache__/
+*.pyc
+*.pyo