diff --git a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile
index 70b44162..57df6247 100644
--- a/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile
+++ b/.ci_local_test/ros2_openvino_toolkit_test/Dockerfile
@@ -1,12 +1,19 @@
 # ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
 
-ARG ROS_VERSION
-FROM osrf/ros:${ROS_VERSION}
+ARG ROS_PRE_INSTALLED_PKG
+FROM osrf/ros:${ROS_PRE_INSTALLED_PKG}
 ARG VERSION
 
+# setting proxy env --option 
+# If needed, enable the below ENV setting by correct proxies.
+# ENV HTTP_PROXY="your_proxy"
+# ENV HTTPS_PROXY="your_proxy"
+# ENV FTP_PROXY="your_proxy"
 
-LABEL maintainer="Jiawei Wu <jiawei.wu@intel.com>"
+# author information
+LABEL author="Jiawei Wu <jiawei.wu@intel.com>"
 
+# default shell type
 SHELL ["/bin/bash", "-c"]
 
 # ignore the warning
@@ -15,22 +22,19 @@ 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 apt-key adv --keyserver-options http-proxy=your_proxy --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver-options http-proxy=your_proxy --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE 
+RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
 RUN add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \ 
 && apt-get install -y --no-install-recommends \
 librealsense2-dkms \
@@ -49,19 +53,16 @@ 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
+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 ${VERSION} https://github.com/ros-perception/vision_opencv.git
-RUN git clone -b ros2-development https://github.com/IntelRealSense/realsense-ros.git 
+RUN git init && git clone https://github.com/intel/ros2_object_msgs.git \
+&& git clone -b ros2 https://github.com/intel/ros2_openvino_toolkit.git
 RUN apt-get install ros-${VERSION}-diagnostic-updater
 WORKDIR /root/catkin_ws
-COPY jpg /root/jpg
-#RUN source /opt/ros/${VERSION}/setup.bash && source /opt/intel/openvino_2022/setupvars.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+RUN source /opt/ros/${VERSION}/setup.bash && 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
index 79fdf85f..956ded09 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/docker_run.sh
@@ -21,8 +21,13 @@ function run_container() {
         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 .
+    cd $work_dir && sed -i '/ros2_openvino_toolkit.git/d' Dockerfile
+    # remove the "\"
+    cd $work_dir && sed -i 's#ros2_object_msgs.git \\#ros2_object_msgs.git#' Dockerfile
+    # add the jpg for test.
+    cd $work_dir && sed -i '$i COPY jpg /root/jpg' Dockerfile
+
+    cd $work_dir && docker build --build-arg ROS_PRE_INSTALLED_PKG=galactic-desktop --build-arg VERSION=galactic  -t ros2_openvino_docker:01 .
     docker run -i --privileged=true --device=/dev/dri -v $work_dir/ros2_openvino_toolkit:/root/catkin_ws/src/ros2_openvino_toolkit -v /tmp/.X11-unix:/tmp/.X11-unix  -v $HOME/.Xauthority:/root/.Xauthority -e GDK_SCALE  -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"
 
 }
diff --git a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
index 4ad26dc0..f3e50d3b 100755
--- a/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
+++ b/.ci_local_test/ros2_openvino_toolkit_test/test_cases/yolov5_model_download.sh
@@ -25,8 +25,8 @@ cd /root/yolov5/
 python3 -m venv ov_env                      # Create openVINO virtual environment
 source ov_env/bin/activate                  # Activate environment
 python -m pip install --upgrade pip         # Upgrade pip
-pip install openvino[onnx]==2022.1.0        # Install OpenVINO for ONNX
-pip install openvino-dev[onnx]==2022.1.0    # Install OpenVINO Dev Tool for ONNX
+pip install openvino[onnx]==2022.3.0        # Install OpenVINO for ONNX
+pip install openvino-dev[onnx]==2022.3.0    # Install OpenVINO Dev Tool for ONNX
 
 
 cd /root/yolov5/model_convert
diff --git a/.github/workflows/ros2_branch.yml b/.github/workflows/basic_func_tests.yml
similarity index 85%
rename from .github/workflows/ros2_branch.yml
rename to .github/workflows/basic_func_tests.yml
index a2b1ceea..d94a5357 100644
--- a/.github/workflows/ros2_branch.yml
+++ b/.github/workflows/basic_func_tests.yml
@@ -1,14 +1,14 @@
 # This is a basic workflow to help you get started with Actions
 
-name: ros2_branch_CI
+name: Basic_Func_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" ]
+    branches: [ "master", "ros2" ]
   pull_request:
-    branches: [ "ros2" ]
+    branches: [ "master", "ros2" ]
 
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
@@ -31,5 +31,6 @@ jobs:
             pwd
             mkdir -p ../workspace_ci
             cp -r ${GITHUB_WORKSPACE}/.ci_local_test/ros2_openvino_toolkit_test ../workspace_ci
+            \cp ${GITHUB_WORKSPACE}/docker/Dockerfile ../workspace_ci/ros2_openvino_toolkit_test/Dockerfile
             cp -r ${GITHUB_WORKSPACE} ../workspace_ci/ros2_openvino_toolkit_test
             cd ../workspace_ci/ros2_openvino_toolkit_test && ./docker_run.sh
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 57df6247..5a53d585 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -54,7 +54,6 @@ requests \
 && apt-get install -y --no-install-recommends libboost-all-dev
 WORKDIR /usr/lib/x86_64-linux-gnu
 RUN pip install --upgrade pip
-RUN pip install openvino-dev[tensorflow2]==2022.3
 
 # build ros2 openvino toolkit
 WORKDIR /root