[ROS2] [Jazzy] Update librealsense version to 2.57.5 in CI workflows and Dockerfile; improve logging format in inference modules

Author: jb-balaji

.github/workflows/code_format.yml

@@ -1,50 +1,35 @@
 
 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:
-    runs-on: ubuntu-22.04
-    timeout-minutes: 10
-    steps:
-    - name: Remove old artifacts
-      uses: c-hive/gha-remove-artifacts@v1
-      with:
-        age: '15 days'
   code-format-check:
-    # 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
+    timeout-minutes: 10
+
     steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v3
-      # Install clang-format
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
       - name: Install clang-format
-        run: sudo apt-get update && sudo apt-get install clang-format -y
-      # Run clang-format on all C++ files
-      - name: Run clang-format
         run: |
-            find . -type f \( -name '*.h' -o -name '*.hpp' -o -name '*.cpp' \) \
-              ! -path "*/build/*" ! -path "*/install/*" ! -path "*/log/*" \
-              -exec clang-format -i -style=file {} \;
-      # Check if any files were modified
-      - name: Check for formatting changes
+          sudo apt-get update
+          sudo apt-get install -y clang-format-14
+          sudo ln -s /usr/bin/clang-format-14 /usr/bin/clang-format
+
+      - name: Run clang-format check
         run: |
-            git diff --exit-code || (echo "Code formatting issues detected. Please run clang-format locally." && exit 1)
+          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-24.04-jazzy.yml

@@ -55,7 +55,7 @@ jobs:
           git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config \
           libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev cmake
         cd ~/
-        git clone --depth 1 --branch v2.54.2 https://github.com/IntelRealSense/librealsense.git
+        git clone --depth 1 --branch v2.57.5 https://github.com/IntelRealSense/librealsense.git
         cd librealsense
         mkdir build && cd build
         cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF

docker/ros2_ov2025/ros2_jazzy/Dockerfile

@@ -31,7 +31,7 @@ RUN apt update && \
 
 # Build librealsense2
 WORKDIR /root/
-RUN git clone --branch v2.55.1 --single-branch https://github.com/IntelRealSense/librealsense.git && \
+RUN git clone --branch v2.57.5 --single-branch https://github.com/IntelRealSense/librealsense.git && \
     cd librealsense && \
     mkdir build && \
     cd build && \

openvino_wrapper_lib/include/openvino_wrapper_lib/models/attributes/base_attribute.hpp

@@ -107,8 +107,8 @@ class ModelAttribute
     if (attr_.max_proposal_count <= 0 || attr_.object_size <= 0 || attr_.input_height <= 0 || attr_.input_width <= 0 ||
         attr_.input_names.empty() || attr_.output_names.empty()) {
       slog::info << "--------" << slog::endl;
-      slog::warn << "Not all attributes are set correctly! not 0 or empty is allowed in" << " the above list."
-                 << slog::endl;
+      slog::warn << "Not all attributes are set correctly! not 0 or empty is allowed in"
+                 << " the above list." << slog::endl;
     }
     if (attr_.input_tensor_count != static_cast<int>(attr_.input_names.size())) {
       slog::info << "--------" << slog::endl;

openvino_wrapper_lib/include/openvino_wrapper_lib/utils/version_info.hpp

@@ -53,8 +53,10 @@ static std::ostream& operator<<(std::ostream& os, const ov::Version& version)
 {
   os << "\n\tAPI version ............ ";
   os << OPENVINO_VERSION_MAJOR << "." << OPENVINO_VERSION_MINOR << "." << OPENVINO_VERSION_PATCH;
-  os << "\n\t" << "Build .................. " << version.buildNumber;
-  os << "\n\t" << "Description ............ " << version.description;
+  os << "\n\t"
+     << "Build .................. " << version.buildNumber;
+  os << "\n\t"
+     << "Description ............ " << version.description;
 
   return os;
 }

openvino_wrapper_lib/src/inferences/age_gender_detection.cpp

@@ -105,8 +105,8 @@ const std::vector<cv::Rect>
 openvino_wrapper_lib::AgeGenderDetection::getFilteredROIs(const std::string filter_conditions) const
 {
   if (!filter_conditions.empty()) {
-    slog::err << "Age gender detection does not support filtering now! " << "Filter conditions: " << filter_conditions
-              << slog::endl;
+    slog::err << "Age gender detection does not support filtering now! "
+              << "Filter conditions: " << filter_conditions << slog::endl;
   }
   std::vector<cv::Rect> filtered_rois;
   for (auto res : results_) {

openvino_wrapper_lib/src/inferences/base_reidentification.cpp

@@ -62,9 +62,9 @@ double openvino_wrapper_lib::Tracker::calcSimilarity(const std::vector<float>& f
                                                      const std::vector<float>& feature_b)
 {
   if (feature_a.size() != feature_b.size()) {
-    slog::err << "cosine similarity can't be called for vectors of different lengths: " << "feature_a size = "
-              << std::to_string(feature_a.size()) << "feature_b size = " << std::to_string(feature_b.size())
-              << slog::endl;
+    slog::err << "cosine similarity can't be called for vectors of different lengths: "
+              << "feature_a size = " << std::to_string(feature_a.size())
+              << "feature_b size = " << std::to_string(feature_b.size()) << slog::endl;
   }
   float mul_sum, denom_a, denom_b, value_a, value_b;
   mul_sum = denom_a = denom_b = value_a = value_b = 0;

openvino_wrapper_lib/src/inferences/emotions_detection.cpp

@@ -127,8 +127,8 @@ const std::vector<cv::Rect>
 openvino_wrapper_lib::EmotionsDetection::getFilteredROIs(const std::string filter_conditions) const
 {
   if (!filter_conditions.empty()) {
-    slog::err << "Emotion detection does not support filtering now! " << "Filter conditions: " << filter_conditions
-              << slog::endl;
+    slog::err << "Emotion detection does not support filtering now! "
+              << "Filter conditions: " << filter_conditions << slog::endl;
   }
   std::vector<cv::Rect> filtered_rois;
   for (auto res : results_) {

openvino_wrapper_lib/src/inferences/face_reidentification.cpp

@@ -114,8 +114,8 @@ const std::vector<cv::Rect>
 openvino_wrapper_lib::FaceReidentification::getFilteredROIs(const std::string filter_conditions) const
 {
   if (!filter_conditions.empty()) {
-    slog::err << "Face reidentification does not support filtering now! " << "Filter conditions: " << filter_conditions
-              << slog::endl;
+    slog::err << "Face reidentification does not support filtering now! "
+              << "Filter conditions: " << filter_conditions << slog::endl;
   }
   std::vector<cv::Rect> filtered_rois;
   for (auto res : results_) {

openvino_wrapper_lib/src/inferences/head_pose_detection.cpp

@@ -107,8 +107,8 @@ const std::vector<cv::Rect>
 openvino_wrapper_lib::HeadPoseDetection::getFilteredROIs(const std::string filter_conditions) const
 {
   if (!filter_conditions.empty()) {
-    slog::err << "Headpose detection does not support filtering now! " << "Filter conditions: " << filter_conditions
-              << slog::endl;
+    slog::err << "Headpose detection does not support filtering now! "
+              << "Filter conditions: " << filter_conditions << slog::endl;
   }
   std::vector<cv::Rect> filtered_rois;
   for (auto res : results_) {