# Decrease ROS inference detections delay **URL:** \ **Category:** Isaac ROS\ **Tags:** isaac-ros-object-detection, ros2, camera\ **Created:** [April 21, 2026, 11:01am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316 "2026-04-21T11:01:46Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![martincerven](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/martincerven/32/502352_2.png) [@martincerven](https://forums.developer.nvidia.com/u/martincerven)\ **Post date:** [April 21, 2026, 11:01am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316/1 "2026-04-21T11:01:46Z")
I’m using custom YOLOv8 models for detecting [shuttlecocks and tracking them](https://youtu.be/CmBWlHjohjg?t=91) at `1280x800x30FPS`, using simple PIDs that move motors, and I noticed there is big delay using larger models (~ 0.4s). Using small models, the delay is ~90ms, but I still think this could be improved. I tried: - using `--int8` quantization with tensorrt, but that made models completely unusable - switching to `rmw_zenoh_cpp`: small improvements in some cases, could be faster if there’s more cameras, etc - training NN in D455’s native 800x1200 resolution, but still I think the encoding/cropping take some time What could work: - I will try doing PR with latest YOLO version, maybe that could shave few ms off the delay - also posting this to realsense ros repo could be useful - not doing cropping - more RMW tunning/testing - using smallest, latest model, while getting okay accuracy - doing QAT of the model, maybe that could work better with `--int8` of tensorrt - using movement model for motors that accounts for delay. I believe having smallest delay as possible should be beneficial even for future Isaac ROS releases/versions, so it could be very useful to look more deeply into this. ([I also posted this in git repo](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_object_detection/issues/63)) Here are some ros2 logs: ```auto admin@agx:/workspaces/isaac_ros-dev$ ros2 topic delay /camera_info_rect WARNING: topic [/camera_info_rect] does not appear to be published yet average delay: 0.084 min: 0.033s max: 0.352s std dev: 0.09249s window: 27 average delay: 0.058 min: 0.033s max: 0.352s std dev: 0.06823s window: 57 average delay: 0.050 min: 0.033s max: 0.352s std dev: 0.05630s window: 87 average delay: 0.046 min: 0.033s max: 0.352s std dev: 0.04903s window: 117 average delay: 0.043 min: 0.033s max: 0.352s std dev: 0.04400s window: 147 average delay: 0.042 min: 0.032s max: 0.352s std dev: 0.04025s window: 177 average delay: 0.041 min: 0.032s max: 0.352s std dev: 0.03734s window: 207 average delay: 0.040 min: 0.032s max: 0.352s std dev: 0.03497s window: 237 average delay: 0.039 min: 0.032s max: 0.352s std dev: 0.03300s window: 267 average delay: 0.039 min: 0.032s max: 0.352s std dev: 0.03133s window: 297 ^Cadmin@agx:/workspaces/isaac_ros-dev$ ros2 topic delay /yolov8_encoder/resize/image average delay: 0.063 min: 0.053s max: 0.069s std dev: 0.00356s window: 28 average delay: 0.064 min: 0.053s max: 0.069s std dev: 0.00304s window: 56 average delay: 0.064 min: 0.053s max: 0.069s std dev: 0.00276s window: 86 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00389s window: 114 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00377s window: 143 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00354s window: 173 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00344s window: 202 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00342s window: 228 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00347s window: 257 average delay: 0.064 min: 0.053s max: 0.089s std dev: 0.00342s window: 287 ^Cadmin@agx:/workspaces/isaac_ros-dev$ ros2 topic delay /yolov8_encoder/crop/image WARNING: topic [/yolov8_encoder/crop/image] does not appear to be published yet average delay: 0.071 min: 0.066s max: 0.075s std dev: 0.00251s window: 27 average delay: 0.071 min: 0.066s max: 0.077s std dev: 0.00235s window: 57 average delay: 0.071 min: 0.066s max: 0.077s std dev: 0.00227s window: 82 average delay: 0.072 min: 0.066s max: 0.077s std dev: 0.00218s window: 107 average delay: 0.072 min: 0.066s max: 0.077s std dev: 0.00211s window: 135 average delay: 0.072 min: 0.065s max: 0.078s std dev: 0.00222s window: 165 average delay: 0.071 min: 0.065s max: 0.078s std dev: 0.00218s window: 191 average delay: 0.071 min: 0.065s max: 0.078s std dev: 0.00210s window: 220 average delay: 0.072 min: 0.065s max: 0.078s std dev: 0.00209s window: 249 average delay: 0.072 min: 0.065s max: 0.078s std dev: 0.00204s window: 277 ^Cadmin@agx:/workspaces/isaac_ros-dev$ ros2 topic delay /detections_output average delay: 0.092 min: 0.083s max: 0.111s std dev: 0.00449s window: 29 average delay: 0.092 min: 0.083s max: 0.111s std dev: 0.00343s window: 59 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00437s window: 89 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00435s window: 119 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00398s window: 149 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00370s window: 179 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00354s window: 209 average delay: 0.092 min: 0.083s max: 0.120s std dev: 0.00367s window: 239 average delay: 0.092 min: 0.082s max: 0.120s std dev: 0.00361s window: 269 average delay: 0.092 min: 0.082s max: 0.120s std dev: 0.00354s window: 299 ^Cadmin@agx:/workspaces/isaac_ros-dev$ ``` ---
**Author:** ![vchuang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vchuang/32/436710_2.png) [@vchuang](https://forums.developer.nvidia.com/u/vchuang)\ **Post date:** [April 23, 2026, 10:01am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316/2 "2026-04-23T10:01:19Z")
Hello @martincerven, Thanks for trying out Isaac ROS and sharing your project! Since you’re running a custom YOLOv8 model and a fairly involved control loop, there are many factors that can affect end‑to‑end latency and many of the ideas you listed are all valid levers to explore. From the Isaac ROS side, we recommend you to reference our [isaac\_ros\_benchmark](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/tree/release-4.3#performance) performance data and [ros2\_benchmark](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) repos. These let you quantify the critical latency of each node in your pipeline separately, so you can see exactly how much each stage is contributing. If you notice a large discrepancy between your numbers and the reference data for a similar configuration, that’s usually a hint to double‑check the system setup or revisit model/graph choices. ---
**Author:** ![martincerven](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/martincerven/32/502352_2.png) [@martincerven](https://forums.developer.nvidia.com/u/martincerven)\ **Post date:** [May 13, 2026, 7:45am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316/3 "2026-05-13T07:45:58Z")
Sure, I’ll benchmark and report my findings. ---
**Author:** ![vchuang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vchuang/32/436710_2.png) [@vchuang](https://forums.developer.nvidia.com/u/vchuang)\ **Post date:** [July 13, 2026, 7:10am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316/4 "2026-07-13T07:10:02Z")
Hello, As there haven’t been any recent updates on this discussion, we’ll be closing the thread to keep the forum organized. If you continue to experience this issue or have new questions, please start a new topic and include a reference to this discussion for context. This will help our team and other community members assist you more effectively. Thank you for your participation in the NVIDIA Isaac ROS community. ---
**Author:** ![vchuang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vchuang/32/436710_2.png) [@vchuang](https://forums.developer.nvidia.com/u/vchuang)\ **Post date:** [July 13, 2026, 7:10am UTC](https://forums.developer.nvidia.com/t/decrease-ros-inference-detections-delay/367316/5 "2026-07-13T07:10:12Z")