add dockerfile and instruction

data/model_list/convert_model.lst

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+# This file can be used with the --list option of the model converter.
+mobilenet-ssd
+deeplabv3
+mask_rcnn_inception_resnet_v2_atrous_coco
+

data/model_list/download_model.lst

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+# This file can be used with the --list option of the model downloader.
+face-detection-adas-0001
+age-gender-recognition-retail-0013
+emotions-recognition-retail-0003
+landmarks-regression-retail-0009
+license-plate-recognition-barrier-0001
+person-detection-retail-0013
+person-attributes-recognition-crossroad-0230
+person-reidentification-retail-0277
+vehicle-attributes-recognition-barrier-0039
+vehicle-license-plate-detection-barrier-0106
+head-pose-estimation-adas-0001
+human-pose-estimation-0001
+semantic-segmentation-adas-0001
+mobilenet-ssd
+deeplabv3
+

docker/Dockerfile

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+# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
+
+ARG ROS_VERSION
+FROM osrf/ros:${ROS_VERSION}
+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"
+
+LABEL maintainer="Jiawei Wu <[email protected]>"
+
+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 2022.1
+# https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_apt.html
+RUN apt update && apt install --assume-yes curl gnupg2 lsb-release
+RUN curl -s https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB |apt-key add -
+RUN echo "deb https://apt.repos.intel.com/openvino/2022 $(lsb_release -cs) main" |tee /etc/apt/sources.list.d/intel-openvino-2022.list
+RUN apt update && apt-cache search openvino-2022.1.0
+RUN apt install --assume-yes openvino-2022.1.0
+RUN ls -lh /opt/intel/openvino_2022
+RUN source /opt/intel/openvino_2022/setupvars.sh 
+
+# 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 ln -sf libboost_python-py36.so libboost_python37.so
+
+# build ros2 openvino toolkit
+WORKDIR /root
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN git clone https://github.com/intel/ros2_object_msgs.git 
+RUN git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git 
+RUN git clone -b ${VERSION} https://github.com/ros-perception/vision_opencv.git
+RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git 
+RUN apt-get install ros-${VERSION}-diagnostic-updater
+WORKDIR /root/catkin_ws
+RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+

docker/docker_instructions_ov2.0.md

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+# Run Docker Images For ROS2_OpenVINO_Toolkit
+
+**NOTE:**
+Below steps have been tested on **Ubuntu 20.04**.
+Supported ROS2 versions include foxy and galactic.
+
+## 1. Environment Setup
+* Install docker ([guide](https://docs.docker.com/engine/install/ubuntu/))
+
+## 2. Build docker image by dockerfile
+```
+cd ~/ros2_openvino_toolkit/docker/Dockerfile
+vi ~/ros2_openvino_toolkit/docker/Dockerfile
+docker build --build-arg ROS_VERSION=<EXPECT_ROS_BASE_IMAGE> --build-arg VERSION=<EXPECT_ROS_VERSION> --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_openvino_202201 .
+```
+For example:
+* Build image for ros_galactic
+```
+cd ~/ros2_openvino_toolkit/docker/Dockerfile
+vi ~/ros2_openvino_toolkit/docker/Dockerfile
+docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_galactic_openvino_202201 .
+```
+* Build image for ros_foxy
+```
+cd ~/ros2_openvino_toolkit/docker/Dockerfile
+vi ~/ros2_openvino_toolkit/docker/Dockerfile
+docker build --build-arg ROS_VERSION=foxy-desktop --build-arg VERSION=foxy --build-arg "HTTP_PROXY=set_your_proxy" -t ros2_foxy_openvino_202201 .
+```
+
+## 3. Download and load docker image
+* Download docker image
+```
+ # ros2_openvino_202201 for demo
+ cd ~/Downloads/
+ wget <DOCKER_IMAGE_PATH>
+```
+* Load docker image
+```
+cd ~/Downloads/
+docker load -i <DOCKER_IMAGE>
+docker images
+// (show <DOCKER_IMAGE> in the list)
+```
+
+## 4. Running the Demos
+* Install dependency
+```
+  sudo apt install x11-xserver-utils
+  xhost +
+```
+* Run docker image
+```
+  docker images
+  docker run -itd  -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev  --privileged=true --name <your_image_name> <IMAGE_ID>
+```
+* In Docker Container
+
+* Preparation
+```
+source /opt/intel/openvino_2022/setupvars.sh
+source /opt/ros/<ROS_VERSION>/setup.bash
+cd ~/catkin_ws
+source ./install/local_setup.bash
+```
+
+* See all available models
+OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/))
+
+```
+omz_downloader --print_all
+```
+
+* Download the optimized Intermediate Representation (IR) of model (execute once), for example:
+```
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list
+omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/
+```
+
+* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection):
+```
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list
+omz_converter --list convert_model.lst -o /opt/openvino_toolkit/models/convert
+```
+* Copy label files (execute once)
+**Note**:Need to make label_dirs if skip steps for set output_dirs above.
+```
+sudo 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/
+sudo 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/
+sudo 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/
+sudo 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/
+sudo 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/
+sudo 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
+```
+
+* 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 person reidentification sample code input from StandardCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_reidentification.launch.py
+  ```
+  * run person face reidentification sample code input from RealSenseCamera.
+  ```
+  ros2 launch dynamic_vino_sample pipeline_face_reidentification.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
+  ```
+
+# 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*
+