intel · LewisLiuPub · Dec 6, 2022 · Nov 21, 2022 · Nov 21, 2022 · Nov 25, 2022
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
diff --git a/doc/quick_start/getting_started_with_ros2_ov2.0.md 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
@@ -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: