High CPU Usage & Host OOM Crash when running nvblox in Docker (RTX 6000 Ada + Ryzen 9 9950X3D)

Omniverse Isaac Sim
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System Configuration:

  • CPU: AMD Ryzen 9 9950X3D (32 Threads) @ 5.75 GHz

  • GPU: NVIDIA RTX 6000 Ada Generation (96GB VRAM)

  • RAM: 128GB (126,300 MiB)

  • OS: Ubuntu 22.04.5 LTS (x86_64)

  • Software Stack: Isaac Sim 5.1.0 (Host) + Isaac ROS / nvblox (Docker)

  • RMW Implementation: rmw_fastrtps_cpp

Description: Hello, I am encountering a critical memory leak/accumulation issue leading to a system crash while running isaac_ros_nvblox.

I am running Isaac Sim on the native host (Ubuntu 22.04) and the Isaac ROS nvblox node inside a Docker container. Despite using high-end hardware (Ryzen 9 9950X3D + RTX 6000 Ada + 128GB RAM), the system RAM (not VRAM) rapidly fills up until the Linux OOM Killer terminates the Isaac Sim process.

Key Observations & Problem Analysis:

  1. System RAM Overflow: VRAM usage is stable, but Host System Memory usage spikes uncontrollably. It appears that the ROS 2 Bridge in Isaac Sim keeps buffering messages because the subscriber (nvblox in Docker) cannot process them fast enough.

  2. CPU Saturation: Even with a Ryzen 9 9950X3D, I observe extremely high CPU usage. This suggests a significant bottleneck in data serialization/deserialization between the Host and the Docker container.

  3. Hardware Context: On my previous setup (RTX 3090, WSL2), the network throttling likely prevented this overflow. However, on this high-performance Native Ubuntu setup, the unthrottled data generation from Isaac Sim overwhelms the ROS 2 pipeline.

Any guidance on architecture configuration for this high-throughput setup would be appreciated.

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Are you following any documentation from the Isaac ROS site (NVIDIA Isaac ROS — Isaac ROS)? If so, could you please create a new topic under the Isaac ROS category here: Isaac ROS - NVIDIA Developer Forums?
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Hello!

We noticed that this topic hasn’t received any recent updates from anyone reporting this issue, so we are closing it for now to help keep the forum organized.

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