Example param file for pipeline with a topic input used with the ros2_openvino_toolkit

pipeline_object_topic.yaml

Pipelines:
- name: object
  inputs: [RealSenseCameraTopic]
  infers:
    - name: ObjectDetection
      model: /opt/openvino_toolkit/open_model_zoo/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.xml
      engine: CPU
      label: /opt/openvino_toolkit/open_model_zoo/model_downloader/object_detection/common/mobilenet-ssd/caffe/output/FP32/mobilenet-ssd.labels
      batch: 1
      confidence_threshold: 0.5
      enable_roi_constraint: true # set enable_roi_constraint to false if you don't want to make the inferred ROI (region of interest) constrained into the camera frame
  outputs: [ImageWindow, RosTopic]
  connects:
    - left: RealSenseCameraTopic
      right: [ObjectDetection]
    - left: ObjectDetection
      right: [ImageWindow]
    - left: ObjectDetection
      right: [RosTopic]

OpenvinoCommon: