diff --git a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile
new file mode 100644
index 00000000..70b44162
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile
@@ -0,0 +1,67 @@
+# ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
+
+ARG ROS_VERSION
+FROM osrf/ros:${ROS_VERSION}
+ARG VERSION
+
+
+LABEL maintainer="Jiawei Wu <jiawei.wu@intel.com>"
+
+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 2022.3
+
+# https://docs.openvino.ai/2022.3/openvino_docs_install_guides_installing_openvino_apt.html
+RUN apt update && apt install --assume-yes curl wget gnupg2 lsb-release
+RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
+apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | tee /etc/apt/sources.list.d/intel-openvino-2022.list
+RUN apt update && apt-cache search openvino && apt install -y openvino-2022.3.0
+
+
+# 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 keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options --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
+RUN pip install --upgrade pip
+#RUN pip install openvino-dev[tensorflow2]==2022.3
+
+# 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
+##://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
+COPY jpg /root/jpg
+#RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
new file mode 100755
index 00000000..3769bf79
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+export DISPLAY=:0
+
+export work_dir=$PWD
+
+
+function run_container() {
+
+    docker images | grep ros2_openvino_docker
+
+    if [ $? -eq 0 ]
+    then
+        echo "the image of ros2_openvino_docker:01 existence"
+        docker rmi -f ros2_openvino_docker:01
+    fi
+
+    docker ps -a | grep ros2_openvino_container
+    if [ $? -eq 0 ]
+    then
+        docker rm -f ros2_openvino_container
+    fi
+    # Using jenkins server ros2_openvino_toolkit code instead of git clone code.
+    cd $work_dir && sed -i 's/RUN git clone -b ros2 https/#/g' Dockerfile
+    cd $work_dir && docker build --build-arg ROS_VERSION=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
+    docker run -i --privileged=true  -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -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"
+
+}
+
+run_container
+if [ $? -ne 0 ]
+then
+  echo "Test fail"
+  exit -1
+fi
+
+
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/car.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/car.jpg
new file mode 100644
index 00000000..f53b0339
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diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/cars.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/cars.jpg
new file mode 100644
index 00000000..da985769
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/cars.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/face_reid.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/face_reid.jpg
new file mode 100644
index 00000000..8359b9ee
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/face_reid.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/object_detection.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/object_detection.jpg
new file mode 100644
index 00000000..5b31668d
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/object_detection.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_detection.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_detection.jpg
new file mode 100644
index 00000000..a9ba446e
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_detection.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_reid.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_reid.jpg
new file mode 100644
index 00000000..20329ada
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/people_reid.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/segmentation.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/segmentation.jpg
new file mode 100644
index 00000000..77599d4f
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/segmentation.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/jpg/vehicle_detection.jpg b/.ci_local_test/ros2_openvino_toolkit_test/jpg/vehicle_detection.jpg
new file mode 100644
index 00000000..a8f015c9
Binary files /dev/null and b/.ci_local_test/ros2_openvino_toolkit_test/jpg/vehicle_detection.jpg differ
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh
new file mode 100755
index 00000000..0efee6ce
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/config.sh
@@ -0,0 +1,13 @@
+#/bin/bash
+
+if [[ $1 == '' ]]
+then
+    export ros2_branch=galactic
+else
+    export ros2_branch=$1
+fi
+
+export dynamic_vino_sample=/root/catkin_ws/install/openvino_node/share/openvino_node
+
+
+source /opt/ros/$ros2_branch/setup.bash
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_image_test_ci.log
new file mode 100644
index 00000000..e69de29b
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_people_test_ci.log
new file mode 100644
index 00000000..e69de29b
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_person_attributes_test_ci.log
new file mode 100644
index 00000000..e69de29b
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_reidentification_test_ci.log
new file mode 100644
index 00000000..e69de29b
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/log/pipeline_vehicle_detection_test_ci.log
new file mode 100644
index 00000000..e69de29b
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh
new file mode 100755
index 00000000..d8824d38
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/ros2_openvino_tool_model_download.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+mkdir -p /opt/openvino_toolkit/models
+#apt install -y python-pip
+apt install -y python3.8-venv
+cd ~ && python3 -m venv openvino_env && source openvino_env/bin/activate
+python -m pip install --upgrade pip
+pip install openvino-dev[tensorflow2,mxnet,caffe]
+
+
+#Download the optimized Intermediate Representation (IR) of model (execute once)
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_downloader --list download_model.lst -o /opt/openvino_toolkit/models/
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/mask_rcnn_inception_resnet_v2_atrous_coco//' convert_model.lst
+#cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && sed -i 's/deeplabv3//' convert_model.lst
+
+cd ~/catkin_ws/src/ros2_openvino_toolkit/data/model_list && omz_converter --list convert_model.lst -d /opt/openvino_toolkit/models/ -o /opt/openvino_toolkit/models/convert
+
+#Copy label files (execute once)
+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/
+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/
+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/
+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/
+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/
+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
+
+mkdir -p /opt/openvino_toolkit/models/convert/
+#cp -r /root/public/ /opt/openvino_toolkit/models/convert/
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh
new file mode 100755
index 00000000..eb362cc5
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/run.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+export ros2_branch=$1
+if [[ $1 == '' ]]
+then
+    export ros2_branch=galactic
+else
+    export ros2_branch=$1
+fi
+source /root/test_cases/config.sh $ros2_branch
+
+cd /root/catkin_ws && colcon build --symlink-install
+cd /root/catkin_ws && source ./install/local_setup.bash
+
+apt-get update
+# apt-get install -y ros-$ros2_branch-diagnostic-updater
+apt-get install python3-defusedxml
+apt-get install -y python3-pip
+pip3 install XTestRunner
+
+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
+
+
+cd /root/test_cases/unittest && python3 run_all.py
+if [ $? -ne 0 ]
+then
+        exit -1
+fi
+
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py
new file mode 100755
index 00000000..8abfd384
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/run_all.py
@@ -0,0 +1,39 @@
+#!/usr/opt/python3
+import unittest
+from test_cases import Test_Cases
+from XTestRunner import HTMLTestRunner
+
+def main():
+
+    suite = unittest.TestSuite()
+    suite.addTest(Test_Cases('test_1_pipeline_people_ci'))
+    suite.addTest(Test_Cases('test_2_pipeline_reidentification_ci'))
+    suite.addTest(Test_Cases('test_3_pipeline_image_ci'))
+    suite.addTest(Test_Cases('test_6_pipeline_vehicle_detection_ci'))
+    suite.addTest(Test_Cases('test_7_pipeline_person_attributes_ci'))
+
+    with (open('./result.html', 'wb')) as fp:
+        runner = HTMLTestRunner(
+            stream=fp,
+            title='ROS2 Openvino Test Report',
+            description='Test ROS2-galactic openvino all cases',
+            language='en',
+        )
+        result = runner.run(
+            testlist=suite,
+            rerun=0,
+            save_last_run=False
+        )
+
+    print(f"success count: {result.success_count}")
+    print(f"failure count: {result.failure_count}")
+    print(f"runtime:", result.case_end_time - result.case_start_time)
+    if result.failure_count == 0 and result.error_count == 0:
+        print(f"Test ALL PASS")
+    else:
+        print(f"Test FAIL")
+        exit(-1)
+
+if __name__=="__main__":
+    main()
+
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py
new file mode 100755
index 00000000..2343a4bb
--- /dev/null
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/unittest/test_cases.py
@@ -0,0 +1,102 @@
+#from asyncio import sleep
+from time import sleep
+import unittest
+import subprocess
+import pdb
+import os
+
+class Test_Cases(unittest.TestCase):
+    def test_pipeline(self, launch_file, log_file, topic_list=['/rosout']):
+        print(f"{log_file} topic_list", topic_list)
+        log_file = f"/root/test_cases/log/" + log_file
+        kill_ros2_process()
+        subprocess.Popen([f"ros2 launch openvino_node {launch_file} > {log_file} &"],shell=True).communicate()
+        for topic in topic_list:
+            name=topic.split('/', -1)[-1]
+            sleep(2)
+            subprocess.Popen([f"ros2 topic echo {topic} > {name}.log &"], shell=True).communicate()
+        process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate()
+        kill_ros2_process()
+        print(f"kill the test process done")
+        with open(f"{log_file}") as handle:
+            log = handle.read()
+            check_log = log.split("user interrupted with ctrl-c (SIGINT)")[0]
+            if f"pipeline_object_yolo" not in log_file:
+                self.assertIn('Analyzing Detection results', check_log)
+                self.assertNotIn('ERROR', check_log)
+        for topic in topic_list:
+            name = topic.split('/', -1)[-1]
+            with open(f"{name}.log") as topic_handle:
+                topic_info = topic_handle.read()
+                print("assertIn", self.assertIn("header", topic_info))
+        print(f"check all done")
+
+
+    def test_1_pipeline_people_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/age_genders_Recognition", \
+                    "/ros2_openvino_toolkit/headposes_estimation", \
+                    "/ros2_openvino_toolkit/face_detection", \
+                    "/ros2_openvino_toolkit/emotions_recognition"]
+        launch_file = f"pipeline_people_ci_test.py"
+        log_file = f"pipeline_people_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_2_pipeline_reidentification_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/reidentified_persons",]
+        launch_file = f"pipeline_reidentification_ci_test.py"
+        log_file = f"pipeline_reidentification_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_3_pipeline_image_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/emotions_recognition", \
+                    "/ros2_openvino_toolkit/headposes_estimation", \
+                    "/ros2_openvino_toolkit/people/age_genders_Recognition"]
+        launch_file = f"pipeline_image_ci_test.py"
+        log_file = f"pipeline_image_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_4_pipeline_segmentation_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        launch_file = f"pipeline_segmentation_ci_test.py"
+        log_file = f"pipeline_segmentation_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_5_pipeline_segmentation_image_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/segmented_obejcts"]
+        launch_file = f"pipeline_segmentation_image_ci_test.py"
+        log_file = f"pipeline_segmentation_image_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_6_pipeline_vehicle_detection_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/detected_license_plates",
+                    "/ros2_openvino_toolkit/detected_vehicles_attribs"]
+        launch_file = f"pipeline_vehicle_detection_ci_test.py"
+        log_file = f"pipeline_vehicle_detection_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_7_pipeline_person_attributes_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/detected_objects", \
+                   "/ros2_openvino_toolkit/person_attributes"]
+        launch_file = f"pipeline_person_attributes_ci_test.py"
+        log_file = f"pipeline_person_attributes_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+    def test_8_pipeline_object_yolo_ci(self):
+        topic_ls = ["/ros2_openvino_toolkit/detected_objects"]
+        launch_file = f"pipeline_object_yolo_ci_test.py"
+        log_file = f"pipeline_object_yolo_test_ci.log"
+        self.test_pipeline(launch_file, log_file, topic_list=topic_ls)
+
+
+
+
+
+def kill_ros2_process():
+    sleep(30)
+    process_result = subprocess.Popen(["ps -ef | grep ros2 | grep -v 'grep' | awk '{print $2}'"],stdout=subprocess.PIPE, shell=True).communicate()
+    print(process_result[0].decode('utf-8').replace('\n', ' '))
+    kill_process = 'kill -9 ' + process_result[0].decode('utf-8').replace('\n', ' ')
+    subprocess.Popen([kill_process], shell=True).communicate()
+
+
+
diff --git a/.github/workflows/ros2_branch.yml b/.github/workflows/ros2_branch.yml
new file mode 100644
index 00000000..0b9add50
--- /dev/null
+++ b/.github/workflows/ros2_branch.yml
@@ -0,0 +1,36 @@
+# This is a basic workflow to help you get started with Actions
+
+name: ros2_branch_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: [ "ros2" ]
+  pull_request:
+    branches: [ "ros2" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # 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
+    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: ros2_openvino_toolkit_test
+        run: |
+            pwd
+            mkdir -p ../workspace_ci
+            cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace_ci
+            cp -r ${GITHUB_WORKSPACE} ../workspace_ci/ros2_openvino_toolkit_test
+            cd ../workspace_ci/ros2_openvino_toolkit_test && ./docker_run.sh
diff --git a/sample/launch/pipeline_image_ci_test.py b/sample/launch/pipeline_image_ci_test.py
new file mode 100644
index 00000000..644ccb76
--- /dev/null
+++ b/sample/launch/pipeline_image_ci_test.py
@@ -0,0 +1,56 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_image.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+    	launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_image_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/people/faces',
+                 '/ros2_openvino_toolkit/face_detection'),
+                ('/openvino_toolkit/people/emotions',
+                 '/ros2_openvino_toolkit/emotions_recognition'),
+                ('/openvino_toolkit/people/headposes',
+                 '/ros2_openvino_toolkit/headposes_estimation'),
+                ('/openvino_toolkit/people/age_genders',
+                 '/ros2_openvino_toolkit/people/age_genders_Recognition'),
+                ('/openvino_toolkit/people/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2',
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_object_yolo_ci_test.py b/sample/launch/pipeline_object_yolo_ci_test.py
new file mode 100644
index 00000000..083ed88d
--- /dev/null
+++ b/sample/launch/pipeline_object_yolo_ci_test.py
@@ -0,0 +1,51 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_object_yolo.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+    	launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_object_yolo_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/object/detected_objects',
+                 '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/object/images',
+                 '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2',
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_people_ci_test.py b/sample/launch/pipeline_people_ci_test.py
new file mode 100644
index 00000000..e37d4e45
--- /dev/null
+++ b/sample/launch/pipeline_people_ci_test.py
@@ -0,0 +1,58 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_people.yaml')
+
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+        launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_people_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node', 
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/people/detected_objects',
+                 '/ros2_openvino_toolkit/face_detection'),
+                ('/openvino_toolkit/people/emotions',
+                 '/ros2_openvino_toolkit/emotions_recognition'),
+                ('/openvino_toolkit/people/headposes',
+                 '/ros2_openvino_toolkit/headposes_estimation'),
+                ('/openvino_toolkit/people/age_genders',
+                 '/ros2_openvino_toolkit/age_genders_Recognition'),
+                ('/openvino_toolkit/people/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2', 
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_person_attributes_ci_test.py b/sample/launch/pipeline_person_attributes_ci_test.py
new file mode 100644
index 00000000..75db6d5c
--- /dev/null
+++ b/sample/launch/pipeline_person_attributes_ci_test.py
@@ -0,0 +1,51 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_person_attributes.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+    	launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_person_attributes_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/object/detected_objects',
+                 '/ros2_openvino_toolkit/detected_objects'),
+		('/openvino_toolkit/object/person_attributes','/ros2_openvino_toolkit/person_attributes'),
+                ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2',
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_reidentification_ci_test.py b/sample/launch/pipeline_reidentification_ci_test.py
new file mode 100644
index 00000000..9461bcf1
--- /dev/null
+++ b/sample/launch/pipeline_reidentification_ci_test.py
@@ -0,0 +1,52 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_reidentification.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+        launch.actions.DeclareLaunchArgument(name='yaml_path', default_value =
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_reidentification_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/object/detected_objects',
+                 '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/object/reidentified_persons',
+                 '/ros2_openvino_toolkit/reidentified_persons'),
+                ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2',
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_vehicle_detection_ci_test.py b/sample/launch/pipeline_vehicle_detection_ci_test.py
new file mode 100644
index 00000000..f4d72f15
--- /dev/null
+++ b/sample/launch/pipeline_vehicle_detection_ci_test.py
@@ -0,0 +1,52 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+from launch.substitutions import LaunchConfiguration, PythonExpression
+import launch
+
+def generate_launch_description():
+    #default_yaml = os.path.join(get_package_share_directory('openvino_node'), 'param',
+                                #'pipeline_vehicle_detection.yaml')
+    default_rviz = os.path.join(get_package_share_directory('openvino_node'), 'launch',
+                                'rviz/default.rviz')
+    return LaunchDescription([
+    	launch.actions.DeclareLaunchArgument(name='yaml_path', default_value = 
+                                             os.path.join(get_package_share_directory('openvino_node'), 'param','pipeline_vehicle_detection_ci.yaml')),
+        # Openvino detection
+        launch_ros.actions.Node(
+            package='openvino_node',
+            executable='pipeline_with_params',
+            arguments=['-config', LaunchConfiguration('yaml_path')],
+            remappings=[
+                ('/openvino_toolkit/object/detected_license_plates',
+                 '/ros2_openvino_toolkit/detected_license_plates'),
+                ('/openvino_toolkit/object/detected_vehicles_attribs',
+                 '/ros2_openvino_toolkit/detected_vehicles_attribs'),
+                ('/openvino_toolkit/object/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        #launch_ros.actions.Node(
+            #package='rviz2',
+            #executable='rviz2', output='screen',
+            #arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/param/pipeline_image_ci.yaml b/sample/param/pipeline_image_ci.yaml
new file mode 100644
index 00000000..37da03ba
--- /dev/null
+++ b/sample/param/pipeline_image_ci.yaml
@@ -0,0 +1,41 @@
+Pipelines: 
+- name: people
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  infers:
+    - name: FaceDetection
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      engine: CPU
+      label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
+      batch: 1
+      confidence_threshold: 0.5
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+    - name: AgeGenderRecognition
+      model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+    - name: EmotionRecognition
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      engine: CPU
+      label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels
+      batch: 16
+    - name: HeadPoseEstimation
+      model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [FaceDetection]
+    - left: FaceDetection
+      right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, RosTopic]
+    - left: AgeGenderRecognition
+      right: [RosTopic]
+    - left: EmotionRecognition
+      right: [RosTopic]
+    - left: HeadPoseEstimation
+      right: [RosTopic]
+
+Common:
diff --git a/sample/param/pipeline_object_yolo_ci.yaml b/sample/param/pipeline_object_yolo_ci.yaml
new file mode 100644
index 00000000..7804ecb0
--- /dev/null
+++ b/sample/param/pipeline_object_yolo_ci.yaml
@@ -0,0 +1,21 @@
+Pipelines:
+- name: object
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/models/convert/public/yolov5n/FP32/yolov5n.xml
+      model_type: yolov5
+      engine: CPU #MYRIAD
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.5
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [RosTopic]
+
+OpenvinoCommon:
diff --git a/sample/param/pipeline_people_ci.yaml b/sample/param/pipeline_people_ci.yaml
new file mode 100644
index 00000000..ce0a1e90
--- /dev/null
+++ b/sample/param/pipeline_people_ci.yaml
@@ -0,0 +1,41 @@
+Pipelines:
+- name: people
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  infers: 
+    - name: FaceDetection
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      engine: CPU
+      label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
+      batch: 1
+      confidence_threshold: 0.5
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+    - name: AgeGenderRecognition
+      model: /opt/openvino_toolkit/models/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+    - name: EmotionRecognition
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      engine: CPU
+      label: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels
+      batch: 16
+    - name: HeadPoseEstimation
+      model: /opt/openvino_toolkit/models/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [FaceDetection]
+    - left: FaceDetection
+      right: [AgeGenderRecognition, EmotionRecognition, HeadPoseEstimation, RosTopic]
+    - left: AgeGenderRecognition
+      right: [RosTopic]
+    - left: EmotionRecognition
+      right: [RosTopic]
+    - left: HeadPoseEstimation
+      right: [RosTopic]
+
+Common:
diff --git a/sample/param/pipeline_person_attributes_ci.yaml b/sample/param/pipeline_person_attributes_ci.yaml
new file mode 100644
index 00000000..786c2461
--- /dev/null
+++ b/sample/param/pipeline_person_attributes_ci.yaml
@@ -0,0 +1,28 @@
+Pipelines:
+- name: object
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.5
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+    - name: PersonAttribsDetection
+      model: /opt/openvino_toolkit/models/intel/person-attributes-recognition-crossroad-0230/FP32/person-attributes-recognition-crossroad-0230.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.5
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [PersonAttribsDetection, RosTopic]
+    - left: PersonAttribsDetection
+      right: [RosTopic]
+
+OpenvinoCommon:
diff --git a/sample/param/pipeline_reidentification_ci.yaml b/sample/param/pipeline_reidentification_ci.yaml
new file mode 100644
index 00000000..72b8f22a
--- /dev/null
+++ b/sample/param/pipeline_reidentification_ci.yaml
@@ -0,0 +1,28 @@
+Pipelines:
+- name: object
+  inputs: [Image]
+  input_path: /root/catkin_ws/src/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/models/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.5
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+    - name: PersonReidentification
+      model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0277/FP32/person-reidentification-retail-0277.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+      confidence_threshold: 0.7
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [PersonReidentification]
+    - left: PersonReidentification
+      right: [RosTopic]
+
+OpenvinoCommon:
diff --git a/sample/param/pipeline_vehicle_detection_ci.yaml b/sample/param/pipeline_vehicle_detection_ci.yaml
new file mode 100644
index 00000000..760ff276
--- /dev/null
+++ b/sample/param/pipeline_vehicle_detection_ci.yaml
@@ -0,0 +1,35 @@
+Pipelines:
+- name: object
+  inputs: [Image]
+  input_path: /root/jpg/car.jpg
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
+      engine: CPU
+      label: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels
+      batch: 1
+      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
+    - name: VehicleAttribsDetection
+      model: /opt/openvino_toolkit/models/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+    - name: LicensePlateDetection
+      model: /opt/openvino_toolkit/models/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 1
+  outputs: [RosTopic]
+  connects:
+    - left: Image
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [{VehicleAttribsDetection: label == vehicle && confidence >= 0.8}, {LicensePlateDetection: label == license && confidence >= 0.8}]
+    - left: ObjectDetection
+      right: [RosTopic] 
+    - left: VehicleAttribsDetection
+      right: [RosTopic]
+    - left: LicensePlateDetection
+      right: [RosTopic]
+
+OpenvinoCommon: