diff --git a/README.md b/README.md
index 22eb71c3..a1accd4c 100644
--- a/README.md
+++ b/README.md
@@ -63,7 +63,7 @@ Currently, the inference feature list is supported:
 ### Topic
 #### Subscribed Topic
 - Image topic:
-```/camera/color/image_raw```([sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg))
+```/openvino_toolkit/image_raw```([sensor_msgs::msg::Image](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg))
 #### Published Topic
 - Face Detection:
 ```/ros2_openvino_toolkit/face_detection```([object_msgs:msg:ObjectsInBoxes](https://github.com/intel/ros2_object_msgs/blob/master/msg/ObjectsInBoxes.msg))
@@ -168,6 +168,10 @@ One-step installation scripts are provided for the dependencies' installation. P
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_object_oss.launch.py
 	```
+* run object detection sample code input from RealSenseCameraTopic.
+	```bash
+	ros2 launch dynamic_vino_sample pipeline_object_oss_topic.launch.py
+	```
 * run object segmentation sample code input from RealSenseCameraTopic.
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py
diff --git a/doc/BINARY_VERSION_README.md b/doc/BINARY_VERSION_README.md
index 8bb1ebcc..4ce6deba 100644
--- a/doc/BINARY_VERSION_README.md
+++ b/doc/BINARY_VERSION_README.md
@@ -164,6 +164,10 @@ This project is a ROS2 wrapper for CV API of [OpenVINO™](https://software.inte
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_object.launch.py
 	```
+* run object detection sample code input from RealSenseCameraTopic.
+	```bash
+	ros2 launch dynamic_vino_sample pipeline_object_topic.launch.py
+	```
 * run object segmentation sample code input from RealSenseCameraTopic.
 	```bash
 	ros2 launch dynamic_vino_sample pipeline_segmentation.launch.py
diff --git a/sample/launch/pipeline_object_oss_topic.launch.py b/sample/launch/pipeline_object_oss_topic.launch.py
new file mode 100644
index 00000000..8158da7c
--- /dev/null
+++ b/sample/launch/pipeline_object_oss_topic.launch.py
@@ -0,0 +1,45 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', 'pipeline_object_oss_topic.yaml');
+    default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', 'rviz/default.rviz');
+    return LaunchDescription([
+        # Realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',output='screen'),
+        # Openvino Detection
+        launch_ros.actions.Node(
+            package='dynamic_vino_sample', node_executable='pipeline_with_params',
+            arguments=['-config', default_yaml],
+            remappings=[
+                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('/openvino_toolkit/detected_objects', '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        # Rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/launch/pipeline_object_topic.launch.py b/sample/launch/pipeline_object_topic.launch.py
new file mode 100644
index 00000000..0da02d1d
--- /dev/null
+++ b/sample/launch/pipeline_object_topic.launch.py
@@ -0,0 +1,46 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Launch face detection and rviz."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+import launch_ros.actions
+
+
+def generate_launch_description():
+    default_yaml = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'param', 'pipeline_object_topic.yaml');
+    default_rviz = os.path.join(get_package_share_directory('dynamic_vino_sample'), 'launch', 'rviz/default.rviz');
+    return LaunchDescription([
+        #realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera',output='screen'),
+
+        #openvino detection
+        launch_ros.actions.Node(
+            package='dynamic_vino_sample', node_executable='pipeline_with_params',
+            arguments=['-config', default_yaml],
+            remappings=[
+                ('/openvino_toolkit/image_raw', '/camera/color/image_raw'),
+                ('/openvino_toolkit/detected_objects', '/ros2_openvino_toolkit/detected_objects'),
+                ('/openvino_toolkit/images', '/ros2_openvino_toolkit/image_rviz')],
+            output='screen'),
+
+        #rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
+    ])
diff --git a/sample/param/pipeline_object_oss_topic.yaml b/sample/param/pipeline_object_oss_topic.yaml
new file mode 100644
index 00000000..4a1f0fc5
--- /dev/null
+++ b/sample/param/pipeline_object_oss_topic.yaml
@@ -0,0 +1,22 @@
+Pipelines:
+- name: object
+  inputs: [RealSenseCameraTopic]
+  infers:
+    - name: ObjectDetection
+      model: /opt/openvino_toolkit/open_model_zoo/model_downloader/object_detection/common/ssd/300/caffe/output/ssd300.xml 
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+  outputs: [ImageWindow, RosTopic, RViz]
+  confidence_threshold: 0.2
+  connects:
+    - left: RealSenseCameraTopic
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [ImageWindow]
+    - left: ObjectDetection
+      right: [RosTopic]
+    - left: ObjectDetection
+      right: [RViz]
+
+OpenvinoCommon:
diff --git a/sample/param/pipeline_object_topic.yaml b/sample/param/pipeline_object_topic.yaml
new file mode 100644
index 00000000..1a4c65bf
--- /dev/null
+++ b/sample/param/pipeline_object_topic.yaml
@@ -0,0 +1,22 @@
+Pipelines:
+- name: object
+  inputs: [RealSenseCameraTopic]
+  infers:
+    - name: ObjectDetection
+      model: /opt/intel/computer_vision_sdk/deployment_tools/intel_models/person-vehicle-bike-detection-crossroad-0078/FP32/person-vehicle-bike-detection-crossroad-0078.xml
+      engine: CPU
+      label: to/be/set/xxx.labels
+      batch: 16
+  outputs: [ImageWindow, RosTopic, RViz]
+  confidence_threshold: 0.2
+  connects:
+    - left: RealSenseCameraTopic
+      right: [ObjectDetection]
+    - left: ObjectDetection
+      right: [ImageWindow]
+    - left: ObjectDetection
+      right: [RosTopic]
+    - left: ObjectDetection
+      right: [RViz]
+
+OpenvinoCommon: