[OSS] [ROS2OV_Team1] Refactor topic and service names to relative for namespace compatibility

[jb-balaji]

Refactor Topics to Use Relative Paths for Improved Namespace Compatibility

This commit updates topic and service names from absolute to relative paths across the repository by removing prefixed '/' from ros2 names This enables the correct appending of namespaces to nodes, topics, and services, enhancing flexibility and modularity of the system.

• Modified topic and service paths in C++ source files and headers.
• Updated corresponding Python scripts to reflect relative naming.
• Adjusted unit tests to align with the new naming convention.

Fixes : #303

[ynakaga]

This fix will work well for issue #303.

Here is my question. In a big system, if the namespaces are used without a clear structure or understanding, the relative topic names could lead to communication issues.
Is there any alternatives? Such as adding unique identifiers into the global nodes when publishing for distinguish? It will make sure the receivers will receive the messages and pick up what they want to receive

[jb-balaji]

This fix will work well for issue #303.

Here is my question. In a big system, if the namespaces are used without a clear structure or understanding, the relative topic names could lead to communication issues. Is there any alternatives? Such as adding unique identifiers into the global nodes when publishing for distinguish? It will make sure the receivers will receive the messages and pick up what they want to receive

Per ROS the recommended solution is to use relative namespace. As we want topics to be shared across several ros nodes, it gives the flexibility for publishers and subscribers efficiently

[jb-balaji]

https://wiki.ros.org/Names#Resolving

[LewisLiuPub]

Please have a check with my comments.

[Copilot]

Pull Request Overview

This PR refactors ROS2 topic and service names from absolute paths to relative paths across the codebase by removing the leading '/' prefix. This change improves namespace compatibility by allowing proper namespace appending to nodes, topics, and services.

• Converted absolute topic paths (e.g., /ros2_openvino_toolkit/detected_objects) to relative paths (ros2_openvino_toolkit/detected_objects)
• Updated service names from absolute to relative paths for improved modularity
• Modified launch files to use relative remapping paths

Reviewed Changes

Copilot reviewed 28 out of 29 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
tests/src/topic/*.cpp	Updated test subscription topic names to use relative paths
tests/src/service/*.cpp	Changed service client creation to use relative service names
sample/src/*.cpp	Modified sample clients to use relative service paths
sample/launch/*.py	Updated launch file remappings to use relative topic names
script/viewer/service.py	Changed Python service client to use relative path
openvino_wrapper_lib/src/services/*.cpp	Updated service creation to use relative names
openvino_wrapper_lib/src/outputs/*.cpp	Modified publisher topic names to use relative paths
openvino_wrapper_lib/src/inputs/image_topic.cpp	Changed input topic macro to relative path

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