diff --git a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md b/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md
deleted file mode 100644
index 1952e364..00000000
--- a/doc/quick_start/getting_started_with_Galactic_Ubuntu20.04_ov2.0.md
+++ /dev/null
@@ -1,181 +0,0 @@
-# ROS2_GALACTIC_OpenVINO_Toolkit
-
-**NOTE:**
-Below steps have been tested on **Ubuntu 20.04**.
-
-## 1. Environment Setup
-* Install ROS2 Galactic ([guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html))
-
-* Install Intel® OpenVINO™ Toolkit Version: 2022.1 ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)). 
-  * Install from an achive file.([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html))
-  Tips: Both runtime and development tool are needed, `pip` is recommended for installing the development tool [guide](https://docs.openvino.ai/latest/openvino_docs_install_guides_install_dev_tools.html).
-  * Install from source code.([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingForLinux))
-
-* Install Intel®  RealSense ™ SDK ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md))
-
-## 2. Building and Installation
-* Install ROS2_OpenVINO_Toolkit packages
-```
-mkdir -p ~/catkin_ws/src
-cd ~/catkin_ws/src
-git clone https://github.com/intel/ros2_openvino_toolkit -b galactic
-git clone https://github.com/intel/ros2_object_msgs
-git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2
-git clone https://github.com/ros-perception/vision_opencv.git -b galactic
-```
-* Install dependencies
-```
-sudo apt-get install ros-galactic-diagnostic-updater
-```
-* Build package
-```
-source /opt/ros/galactic/setup.bash 
-source <OpenVINO_INSTALL_DIR>/setupvars.sh
-cd ~/catkin_ws
-colcon build --symlink-install
-source ./install/local_setup.bash
-```
-
-## 3. Running the Demo
-### Install OpenVINO 2022.1 by source code
-* See all available models
-```
-cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
-sudo python3 downloader.py --print_all
-```
-
-* Download the optimized Intermediate Representation (IR) of models (execute once), for example:
-```
-cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
-sudo python3 downloader.py --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output
-sudo python3 downloader.py --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output
-sudo python3 downloader.py --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output
-sudo python3 downloader.py --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output
-sudo python3 downloader.py --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output
-sudo python3 downloader.py --name person-reidentification-retail-0277 --output_dir /opt/openvino_toolkit/models/person-reidentification/output
-sudo python3 downloader.py --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output
-sudo python3 downloader.py --name semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/output
-sudo python3 downloader.py --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output
-sudo python3 downloader.py --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recognition/output
-sudo python3 downloader.py --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output
-sudo python3 downloader.py --name person-attributes-recognition-crossroad-0230 --output_dir /opt/openvino_toolkit/models/person-attributes/output
-```
-
-* Copy the label file to model output_dir (execute once)
-  
-  **Note** Need to make label dirs if skip steps for set output dirs above.
-  ```
-  mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/
-  mkdir -p /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/
-  mkdir -p /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/
-  mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP32/
-  mkdir -p /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/
-  mkdir -p /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
-
-  ```
-
-```
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/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/face_detection/output/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/emotions-recognition/output/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/semantic-segmentation/output/FP32/
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
-```
-
-* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to Intermediate Representation (such as the model for object detection):
-  * mobilenet-ssd
-    ```
-    cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
-    sudo python3 downloader.py --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output
-    cd ~/openvino/tools/mo/openvino/tools/mo
-    sudo python3 mo.py --input_model /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/public/mobilenet-ssd/mobilenet-ssd.caffemodel --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output
-    ```
-  * deeplabv3
-    ```
-    cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
-    sudo python3 downloader.py --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output
-    sudo python3 converter.py --name=deeplabv3 --mo ~/openvino/tools/mo/openvino/tools/mo.py 
-    ```
-
-### Install OpenVINO 2022.1 by PIP
-* OMZ tools are provided for downloading and converting OMZ models in ov2022.([guide](https://pypi.org/project/openvino-dev/))
-
-* See all available models
-```
-omz_downloader --print_all
-```
-
-* Download the optimized Intermediate Representation (IR) of model (execute once), for example:
-```
-omz_downloader --name face-detection-adas-0001 --output_dir /opt/openvino_toolkit/models/face_detection/output
-omz_downloader --name age-gender-recognition-retail-0013 --output_dir /opt/openvino_toolkit/models/age-gender-recognition/output
-omz_downloader --name emotions-recognition-retail-0003 --output_dir /opt/openvino_toolkit/models/emotions-recognition/output
-omz_downloader --name head-pose-estimation-adas-0001 --output_dir /opt/openvino_toolkit/models/head-pose-estimation/output
-omz_downloader --name person-detection-retail-0013 --output_dir /opt/openvino_toolkit/models/person-detection/output
-omz_downloader --name person-reidentification-retail-0277 --output_dir /opt/openvino_toolkit/models/person-reidentification/output
-omz_downloader --name landmarks-regression-retail-0009 --output_dir /opt/openvino_toolkit/models/landmarks-regression/output
-omz_downloader --name semantic-segmentation-adas-0001 --output_dir /opt/openvino_toolkit/models/semantic-segmentation/output
-omz_downloader --name vehicle-license-plate-detection-barrier-0106 --output_dir /opt/openvino_toolkit/models/vehicle-license-plate-detection/output
-omz_downloader --name vehicle-attributes-recognition-barrier-0039 --output_dir /opt/openvino_toolkit/models/vehicle-attributes-recognition/output
-omz_downloader --name license-plate-recognition-barrier-0001 --output_dir /opt/openvino_toolkit/models/license-plate-recognition/output
-omz_downloader --name person-attributes-recognition-crossroad-0230 --output_dir /opt/openvino_toolkit/models/person-attributes/output
-```
-* Copy label files (execute once)
-```
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/face_detection/face-detection-adas-0001.labels /opt/openvino_toolkit/models/face_detection/output/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/face_detection/output/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/emotions-recognition/output/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/semantic-segmentation/output/FP32/
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_segmentation/frozen_inference_graph.labels /opt/openvino_toolkit/models/semantic-segmentation/output/FP16/
- sudo cp ~/catkin_ws/src/ros2_openvino_toolkit/data/labels/object_detection/vehicle-license-plate-detection-barrier-0106.labels /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32
-```
-
-* If the model (tensorflow, caffe, MXNet, ONNX, Kaldi) need to be converted to intermediate representation (such as the model for object detection):
-  * mobilenet-ssd
-    ```
-    omz_downloader --name mobilenet-ssd --output_dir /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output
-    omz_converter --name mobilenet-ssd -d /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output -o /opt/openvino_toolkit/models/object_detection/mobilenet_ssd/output/convert
-    ```
-  * deeplabv3
-    ```
-    omz_downloader --name deeplabv3 --output_dir /opt/openvino_toolkit/models/deeplabv3/output
-    omz_converter --name deeplabv3 -d /opt/openvino_toolkit/models/deeplabv3/output -o /opt/openvino_toolkit/models/deeplabv3/output/convert
-    ```
-
-* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly.
-
-  * 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 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*
-
diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md b/doc/quick_start/getting_started_with_ros2_ov2.0.md
new file mode 100644
index 00000000..54560cf5
--- /dev/null
+++ b/doc/quick_start/getting_started_with_ros2_ov2.0.md
@@ -0,0 +1,132 @@
+# ROS2_OpenVINO_Toolkit
+
+**NOTE:**
+Below steps have been tested on **Ubuntu 20.04** and **Ubuntu 22.04**.
+Supported ROS2 versions include foxy,galactic and humble.
+
+## 1. Environment Setup
+* For ROS2 foxy and galactic on ubuntu 20.04:
+  * Install ROS2. ([foxy_guide](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)) & ([galactic_guide](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html))
+
+  * Install Intel® OpenVINO™ Toolkit Version: 2022.1. ([guide](https://docs.openvino.ai/2022.1/openvino_docs_install_guides_installing_openvino_linux.html)) 
+    * Install from an achive file. Both runtime and development tool are needed, `pip` is recommended for installing the development tool. ([guide](https://www.intel.com/content/www/us/en/developer/tools/openvino-toolkit/download.html)) 
+
+  * Install Intel® RealSense™ SDK. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md))
+
+* For ROS2 humble on ubuntu 22.04:
+  * Install ROS2. ([humble_guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html))
+
+  * Install Intel® OpenVINO™ Toolkit Latest Version by Source. ([guide](https://github.com/openvinotoolkit/openvino/wiki/BuildingCode))
+
+  * Install Intel®  RealSense™ SDK by Source. ([guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md))
+
+## 2. Building and Installation
+* Install ROS2_OpenVINO_Toolkit packages
+```
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+git clone https://github.com/intel/ros2_openvino_toolkit -b ros2
+git clone https://github.com/intel/ros2_object_msgs
+git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
+git clone https://github.com/ros-perception/vision_opencv.git -b <ROS2_VERSION>
+```
+* Install dependencies
+```
+sudo apt-get install ros-<ROS2_VERSION>-diagnostic-updater
+sudo apt install python3-colcon-common-extensions
+```
+* Build package
+```
+source /opt/ros/<ROS2_VERSION>/setup.bash 
+source <OpenVINO_INSTALL_DIR>/setupvars.sh
+cd ~/catkin_ws
+colcon build --symlink-install
+source ./install/local_setup.bash
+```
+
+## 3. Running the Demo
+### Install OpenVINO 2022.1 by PIP
+* OMZ tools are provided for downloading and converting models of open_model_zoo in ov2022.([guide](https://pypi.org/project/openvino-dev/))
+
+* See all available models
+```
+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
+```
+### Install OpenVINO 2022.1 by source code
+* See all available models
+```
+cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
+sudo python3 downloader.py --print_all
+```
+
+* Download the optimized Intermediate Representation (IR) of models (execute once), for example:
+```
+cd ~/openvino/thirdparty/open_model_zoo/tools/model_tools
+sudo python3 downloader.py --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 ~/openvino/thirdparty/open_model_zoo/tools/model_tools
+sudo python3 converter.py --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
+```
+
+* Please check the parameter configuration in ros2_openvino_toolkit/sample/param/xxxx.yaml before lauching, make sure parameters such as model_path, label_path and input_path are set correctly.
+
+  * 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 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*
+
diff --git a/sample/param/image_object_server.yaml b/sample/param/image_object_server.yaml
index 030cb841..19c7bb48 100644
--- a/sample/param/image_object_server.yaml
+++ b/sample/param/image_object_server.yaml
@@ -1,9 +1,10 @@
 Pipelines:
 - name: object
   inputs: [Image]
+  input_path: to/be/set/image_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
@@ -15,6 +16,6 @@ Pipelines:
       right: [ObjectDetection]
     - left: ObjectDetection
       right: [RosService]
-  input_path: "/home/intel/Pictures/car.png"
+
 
 Common:
diff --git a/sample/param/image_people_server.yaml b/sample/param/image_people_server.yaml
index 578ec311..21e2a2de 100644
--- a/sample/param/image_people_server.yaml
+++ b/sample/param/image_people_server.yaml
@@ -1,26 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Image]
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml
       engine: CPU
-      label: /to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
@@ -36,6 +37,5 @@ Pipelines:
       right: [RosService, RViz]
     - left: HeadPoseEstimation
       right: [RosService, RViz]
-  input_path: "~/Pictures/face.jpeg"
 
 Common:
diff --git a/sample/param/multi_pipleine_service.yaml b/sample/param/multi_pipleine_service.yaml
index 2a55d57c..0220ae11 100644
--- a/sample/param/multi_pipleine_service.yaml
+++ b/sample/param/multi_pipleine_service.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [StandardCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
@@ -24,7 +24,7 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_composite_object_topic.yaml b/sample/param/pipeline_composite_object_topic.yaml
index 58e6bbf7..61c4d6f2 100644
--- a/sample/param/pipeline_composite_object_topic.yaml
+++ b/sample/param/pipeline_composite_object_topic.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [RealSenseCameraTopic]
   infers:
     - name: ObjectDetection
-      model:  /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU #MYRIAD
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_face_reidentification.yaml b/sample/param/pipeline_face_reidentification.yaml
index 08c5bef2..c2cd0f5a 100644
--- a/sample/param/pipeline_face_reidentification.yaml
+++ b/sample/param/pipeline_face_reidentification.yaml
@@ -3,19 +3,19 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
+      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: LandmarksDetection
-      model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
+      model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
     - name: FaceReidentification
-      model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
+      model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_image.yaml b/sample/param/pipeline_image.yaml
index c2d1cb86..f41c3dc2 100644
--- a/sample/param/pipeline_image.yaml
+++ b/sample/param/pipeline_image.yaml
@@ -1,27 +1,27 @@
-Pipelines:
+Pipelines: 
 - name: people
   inputs: [Image]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/sample_faces.jpg
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/pipeline_image_video.yaml b/sample/param/pipeline_image_video.yaml
index 887cfe25..b383f30f 100644
--- a/sample/param/pipeline_image_video.yaml
+++ b/sample/param/pipeline_image_video.yaml
@@ -1,27 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Video]
-  input_path: /home/houk/Desktop/video
+  input_path: to/be/set/video_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/pipeline_object.yaml b/sample/param/pipeline_object.yaml
index 7c0f97d7..62e2f9ca 100644
--- a/sample/param/pipeline_object.yaml
+++ b/sample/param/pipeline_object.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [StandardCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_object_topic.yaml b/sample/param/pipeline_object_topic.yaml
index 39c9cd34..2d1a2c7d 100644
--- a/sample/param/pipeline_object_topic.yaml
+++ b/sample/param/pipeline_object_topic.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [StandardCamera] #[RealSenseCameraTopic]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/public/ssd_mobilenet_v2_coco/FP16/ssd_mobilenet_v2_coco.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU #MYRIAD
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_people.yaml b/sample/param/pipeline_people.yaml
index a68b4cc3..6d9805e0 100644
--- a/sample/param/pipeline_people.yaml
+++ b/sample/param/pipeline_people.yaml
@@ -1,26 +1,26 @@
 Pipelines:
 - name: people
   inputs: [StandardCamera]
-  infers:
+  infers: 
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: /opt/openvino_toolkit/models/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/pipeline_people_ip.yaml b/sample/param/pipeline_people_ip.yaml
index ba01c412..b37903c1 100644
--- a/sample/param/pipeline_people_ip.yaml
+++ b/sample/param/pipeline_people_ip.yaml
@@ -4,24 +4,24 @@ Pipelines:
   input_path: "rtsp://"
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP32/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/pipeline_person_attributes.yaml b/sample/param/pipeline_person_attributes.yaml
index 527ec655..8721c40f 100644
--- a/sample/param/pipeline_person_attributes.yaml
+++ b/sample/param/pipeline_person_attributes.yaml
@@ -3,14 +3,14 @@ Pipelines:
   inputs: [StandardCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      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/person-attributes/output/intel/person-attributes-recognition-crossroad-0230/FP32/person-attributes-recognition-crossroad-0230.xml
+      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
diff --git a/sample/param/pipeline_reidentification.yaml b/sample/param/pipeline_reidentification.yaml
index 5a0d472a..2598031b 100644
--- a/sample/param/pipeline_reidentification.yaml
+++ b/sample/param/pipeline_reidentification.yaml
@@ -3,14 +3,14 @@ Pipelines:
   inputs: [StandardCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      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/person-reidentification/output/intel/person-reidentification-retail-0277/FP32/person-reidentification-retail-0277.xml
+      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
diff --git a/sample/param/pipeline_segmentation.yaml b/sample/param/pipeline_segmentation.yaml
index bd5a1b80..f0eccb13 100644
--- a/sample/param/pipeline_segmentation.yaml
+++ b/sample/param/pipeline_segmentation.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [RealSenseCameraTopic]
   infers:
     - name: ObjectSegmentation
-      model: /opt/openvino_toolkit/models/public/deeplabv3/FP16/deeplabv3.xml
+      model: /opt/openvino_toolkit/models/convert/public/deeplabv3/FP16/deeplabv3.xml
       engine: CPU #"HETERO:CPU,GPU,MYRIAD"
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_segmentation_image.yaml b/sample/param/pipeline_segmentation_image.yaml
index 616d290d..33481f8b 100644
--- a/sample/param/pipeline_segmentation_image.yaml
+++ b/sample/param/pipeline_segmentation_image.yaml
@@ -1,10 +1,10 @@
 Pipelines:
 - name: segmentation
   inputs: [Image]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/expressway.jpg
+  input_path: to/be/set/image_path
   infers:
     - name: ObjectSegmentation
-      model: /opt/openvino_toolkit/models/semantic-segmentation/output/intel/semantic-segmentation-adas-0001/FP16/semantic-segmentation-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/semantic-segmentation-adas-0001/FP16/semantic-segmentation-adas-0001.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/pipeline_vehicle_detection.yaml b/sample/param/pipeline_vehicle_detection.yaml
index a91af9ea..3eff9e59 100644
--- a/sample/param/pipeline_vehicle_detection.yaml
+++ b/sample/param/pipeline_vehicle_detection.yaml
@@ -3,18 +3,18 @@ Pipelines:
   inputs: [StandardCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
+      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/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.labels
+      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/vehicle-attributes-recognition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml
+      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/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml
+      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
diff --git a/sample/param/pipeline_video.yaml b/sample/param/pipeline_video.yaml
index 0872be8e..0493ca76 100644
--- a/sample/param/pipeline_video.yaml
+++ b/sample/param/pipeline_video.yaml
@@ -1,10 +1,10 @@
 Pipelines:
 - name: segmentation
   inputs: [Video]
-  input_path: /home/ubuntu20/jiawei/ros-ov/ros2_galactic_openvino_ws/src/ros2_openvino_toolkit/data/car_cut.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectSegmentation
-      model: /opt/openvino_toolkit/models/public/deeplabv3/FP16/deeplabv3.xml
+      model: /opt/openvino_toolkit/models/convert/public/deeplabv3/FP16/deeplabv3.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/testParam/param/image_object_service_test.yaml b/sample/param/testParam/param/image_object_service_test.yaml
index 9a1ffd0b..baea4479 100644
--- a/sample/param/testParam/param/image_object_service_test.yaml
+++ b/sample/param/testParam/param/image_object_service_test.yaml
@@ -1,10 +1,10 @@
 Pipelines:
 - name: object
   inputs: [Image]
-  input_path: "/opt/openvino_toolkit/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/car_vihecle.png"
+  input_path: to/be/set/image_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/sample/param/testParam/param/image_people_service_test.yaml b/sample/param/testParam/param/image_people_service_test.yaml
index ec579426..40f6513e 100644
--- a/sample/param/testParam/param/image_people_service_test.yaml
+++ b/sample/param/testParam/param/image_people_service_test.yaml
@@ -1,26 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Image]
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
       batch: 16
       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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
@@ -36,6 +37,5 @@ Pipelines:
       right: [RosService]
     - left: HeadPoseEstimation
       right: [RosService]
-  input_path: "/home/intel/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/team.png"
 
 Common:
diff --git a/sample/param/testParam/param/pipeline_anormal.yaml b/sample/param/testParam/param/pipeline_anormal.yaml
index 8f5f5146..2e3a4214 100644
--- a/sample/param/testParam/param/pipeline_anormal.yaml
+++ b/sample/param/testParam/param/pipeline_anormal.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [StandardCamera, Image, video]
   infers:
     - name: Objectdetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
@@ -21,7 +21,7 @@ Pipelines:
   inputs: [StandardCamera, Image, video]
   infers:
     - name:
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/sample/param/testParam/param/pipeline_face_reid_video.yaml b/sample/param/testParam/param/pipeline_face_reid_video.yaml
index f59b2a7d..82986615 100644
--- a/sample/param/testParam/param/pipeline_face_reid_video.yaml
+++ b/sample/param/testParam/param/pipeline_face_reid_video.yaml
@@ -1,22 +1,22 @@
 Pipelines:
 - name: people
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/face_reid.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels
+      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: LandmarksDetection
-      model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
+      model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
     - name: FaceReidentification
-      model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
+      model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/testParam/param/pipeline_face_reidentification_test.yaml b/sample/param/testParam/param/pipeline_face_reidentification_test.yaml
index 6313811a..54ee42ee 100644
--- a/sample/param/testParam/param/pipeline_face_reidentification_test.yaml
+++ b/sample/param/testParam/param/pipeline_face_reidentification_test.yaml
@@ -3,19 +3,19 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels
+      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: LandmarksDetection
-      model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
+      model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
     - name: FaceReidentification
-      model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
+      model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/testParam/param/pipeline_face_test.yaml b/sample/param/testParam/param/pipeline_face_test.yaml
index f831fd19..68b395c9 100644
--- a/sample/param/testParam/param/pipeline_face_test.yaml
+++ b/sample/param/testParam/param/pipeline_face_test.yaml
@@ -1,27 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/people_detection.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/testParam/param/pipeline_image_test.yaml b/sample/param/testParam/param/pipeline_image_test.yaml
index 50540acd..074cbd22 100644
--- a/sample/param/testParam/param/pipeline_image_test.yaml
+++ b/sample/param/testParam/param/pipeline_image_test.yaml
@@ -1,27 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Image]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/team.jpg
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/sample/param/testParam/param/pipeline_object_test.yaml b/sample/param/testParam/param/pipeline_object_test.yaml
index c45999ec..542d3142 100644
--- a/sample/param/testParam/param/pipeline_object_test.yaml
+++ b/sample/param/testParam/param/pipeline_object_test.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/sample/param/testParam/param/pipeline_reidentification_test.yaml b/sample/param/testParam/param/pipeline_reidentification_test.yaml
index 8bb8228d..28f81cf8 100644
--- a/sample/param/testParam/param/pipeline_reidentification_test.yaml
+++ b/sample/param/testParam/param/pipeline_reidentification_test.yaml
@@ -1,17 +1,17 @@
 Pipelines:
 - name: object
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/people_reid.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      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/person-reidentification/output/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml
+      model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/sample/param/testParam/param/pipeline_segmentation_test.yaml b/sample/param/testParam/param/pipeline_segmentation_test.yaml
index 2a7a0dfd..7ba13e01 100644
--- a/sample/param/testParam/param/pipeline_segmentation_test.yaml
+++ b/sample/param/testParam/param/pipeline_segmentation_test.yaml
@@ -1,7 +1,7 @@
 Pipelines:
 - name: segmentation
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/segmentation.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectSegmentation
       model: /opt/openvino_toolkit/models/segmentation/output/FP16/frozen_inference_graph.xml
diff --git a/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml b/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml
index 5f2d7b50..ae4c173b 100644
--- a/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml
+++ b/sample/param/testParam/param/pipeline_vehicle_detection_test.yaml
@@ -1,21 +1,21 @@
 Pipelines:
 - name: object
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/sample/param/testParam/data/vehicle_detection.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
+      model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/vehicle-attributes-recongnition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml
+      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/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml
+      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
diff --git a/tests/param/image_object_service_test.yaml b/tests/param/image_object_service_test.yaml
index 9a1ffd0b..baea4479 100644
--- a/tests/param/image_object_service_test.yaml
+++ b/tests/param/image_object_service_test.yaml
@@ -1,10 +1,10 @@
 Pipelines:
 - name: object
   inputs: [Image]
-  input_path: "/opt/openvino_toolkit/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/car_vihecle.png"
+  input_path: to/be/set/image_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/tests/param/image_people_service_test.yaml b/tests/param/image_people_service_test.yaml
index ec579426..40f6513e 100644
--- a/tests/param/image_people_service_test.yaml
+++ b/tests/param/image_people_service_test.yaml
@@ -1,26 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Image]
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      label: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.labels
       batch: 16
       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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
@@ -36,6 +37,5 @@ Pipelines:
       right: [RosService]
     - left: HeadPoseEstimation
       right: [RosService]
-  input_path: "/home/intel/ros2_overlay_ws/src/ros2_openvino_toolkit/data/images/team.png"
 
 Common:
diff --git a/tests/param/pipeline_anormal.yaml b/tests/param/pipeline_anormal.yaml
index 8f5f5146..2e3a4214 100644
--- a/tests/param/pipeline_anormal.yaml
+++ b/tests/param/pipeline_anormal.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [StandardCamera, Image, video]
   infers:
     - name: Objectdetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
@@ -21,7 +21,7 @@ Pipelines:
   inputs: [StandardCamera, Image, video]
   infers:
     - name:
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/tests/param/pipeline_face_reid_video.yaml b/tests/param/pipeline_face_reid_video.yaml
index 517178a3..82986615 100644
--- a/tests/param/pipeline_face_reid_video.yaml
+++ b/tests/param/pipeline_face_reid_video.yaml
@@ -1,22 +1,22 @@
 Pipelines:
 - name: people
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/face_reid.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels
+      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: LandmarksDetection
-      model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
+      model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
     - name: FaceReidentification
-      model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
+      model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/tests/param/pipeline_face_reidentification_test.yaml b/tests/param/pipeline_face_reidentification_test.yaml
index 6313811a..54ee42ee 100644
--- a/tests/param/pipeline_face_reidentification_test.yaml
+++ b/tests/param/pipeline_face_reidentification_test.yaml
@@ -3,19 +3,19 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: /opt/openvino_toolkit/open_model_zoo/model_downloader/Transportation/object_detection/face/pruned_mobilenet_reduced_ssd_shared_weights/dldt/face-detection-adas-0001.labels
+      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: LandmarksDetection
-      model: /opt/openvino_toolkit/models/landmarks-regression/output/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
+      model: /opt/openvino_toolkit/models/intel/landmarks-regression-retail-0009/FP32/landmarks-regression-retail-0009.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
     - name: FaceReidentification
-      model: /opt/openvino_toolkit/models/face-reidentification/output/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
+      model: /opt/openvino_toolkit/models/intel/face-reidentification-retail-0095/FP32/face-reidentification-retail-0095.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/tests/param/pipeline_face_test.yaml b/tests/param/pipeline_face_test.yaml
index 3aca2024..68b395c9 100644
--- a/tests/param/pipeline_face_test.yaml
+++ b/tests/param/pipeline_face_test.yaml
@@ -1,27 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/people_detection.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/tests/param/pipeline_image_test.yaml b/tests/param/pipeline_image_test.yaml
index 50540acd..074cbd22 100644
--- a/tests/param/pipeline_image_test.yaml
+++ b/tests/param/pipeline_image_test.yaml
@@ -1,27 +1,27 @@
 Pipelines:
 - name: people
   inputs: [Image]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/data/images/team.jpg
+  input_path: to/be/set/image_path
   infers:
     - name: FaceDetection
-      model: /opt/openvino_toolkit/models/face_detection/output/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
+      model: /opt/openvino_toolkit/models/intel/face-detection-adas-0001/FP16/face-detection-adas-0001.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/age-gender-recognition/output/intel/age-gender-recognition-retail-0013/FP32/age-gender-recognition-retail-0013.xml
+      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/emotions-recognition/output/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
+      model: /opt/openvino_toolkit/models/intel/emotions-recognition-retail-0003/FP32/emotions-recognition-retail-0003.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/head-pose-estimation/output/intel/head-pose-estimation-adas-0001/FP32/head-pose-estimation-adas-0001.xml
+      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
diff --git a/tests/param/pipeline_object_test.yaml b/tests/param/pipeline_object_test.yaml
index c45999ec..542d3142 100644
--- a/tests/param/pipeline_object_test.yaml
+++ b/tests/param/pipeline_object_test.yaml
@@ -3,7 +3,7 @@ Pipelines:
   inputs: [RealSenseCamera]
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/object_detection/mobilenet-ssd/caffe/output/FP16/mobilenet-ssd.xml
+      model: /opt/openvino_toolkit/models/convert/public/mobilenet-ssd/FP16/mobilenet-ssd.xml
       engine: GPU
       label: to/be/set/xxx.labels
       batch: 16
diff --git a/tests/param/pipeline_reidentification_test.yaml b/tests/param/pipeline_reidentification_test.yaml
index 9f854572..28f81cf8 100644
--- a/tests/param/pipeline_reidentification_test.yaml
+++ b/tests/param/pipeline_reidentification_test.yaml
@@ -1,17 +1,17 @@
 Pipelines:
 - name: object
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/people_reid.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/person-detection/output/intel/person-detection-retail-0013/FP32/person-detection-retail-0013.xml
+      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/person-reidentification/output/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml
+      model: /opt/openvino_toolkit/models/intel/person-reidentification-retail-0076/FP32/person-reidentification-retail-0076.xml
       engine: CPU
       label: to/be/set/xxx.labels
       batch: 1
diff --git a/tests/param/pipeline_segmentation_test.yaml b/tests/param/pipeline_segmentation_test.yaml
index 74d22368..7ba13e01 100644
--- a/tests/param/pipeline_segmentation_test.yaml
+++ b/tests/param/pipeline_segmentation_test.yaml
@@ -1,7 +1,7 @@
 Pipelines:
 - name: segmentation
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/segmentation.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectSegmentation
       model: /opt/openvino_toolkit/models/segmentation/output/FP16/frozen_inference_graph.xml
diff --git a/tests/param/pipeline_vehicle_detection_test.yaml b/tests/param/pipeline_vehicle_detection_test.yaml
index d425a36d..ae4c173b 100644
--- a/tests/param/pipeline_vehicle_detection_test.yaml
+++ b/tests/param/pipeline_vehicle_detection_test.yaml
@@ -1,21 +1,21 @@
 Pipelines:
 - name: object
   inputs: [Video]
-  input_path: /opt/openvino_toolkit/ros2_openvino_toolkit/tests/data/vehicle_detection.mp4
+  input_path: to/be/set/video_path
   infers:
     - name: ObjectDetection
-      model: /opt/openvino_toolkit/models/vehicle-license-plate-detection/output/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
+      model: /opt/openvino_toolkit/models/intel/vehicle-license-plate-detection-barrier-0106/FP32/vehicle-license-plate-detection-barrier-0106.xml
       engine: CPU
-      label: to/be/set/xxx.labels
+      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/vehicle-attributes-recongnition/output/intel/vehicle-attributes-recognition-barrier-0039/FP32/vehicle-attributes-recognition-barrier-0039.xml
+      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/license-plate-recognition/output/intel/license-plate-recognition-barrier-0001/FP32/license-plate-recognition-barrier-0001.xml
+      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