I am using my own bolt dataset to train according to the RT-DETR project and convert it into .plan format model, but I cannot predict the results in the showed image in isaac_ros_foundationpose — isaac_ros_docs documentation , either in isaac_ros_rtdetr — isaac_ros_docs documentation without any boxes in the bolt. The specific situation is as follows
1、According to Nvidia’s instructions, the project address is: GitHub - lyuwenyu/RT-DETR: [CVPR 2024] Official RT-DETR (RTDETR paddle pytorch), Real-Time DEtection TRansformer, DETRs Beat YOLOs on Real-time Object Detection. 🔥 🔥 🔥 · GitHub
2、The data training was conducted using rtdetr_pytorch, with a total of one type of item-bolt and 400+images trained, the test and inference stage is absollutely OK showed in the following picture.
3、After training, it was converted to onnx for prediction validation
4、The model.onnx is converted to the new model.plan model using the following command:
/usr/src/tensorrt/bin/trtexec --onnx=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/model.onnx --saveEngine=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/model.plan.
For isaac_ros_rtdetr — isaac_ros_docs documentation , I got any box in the following result.
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=realsense_mono_rect,rtdetr engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/synthetica_detr/model.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-03-08-22-41-11-400593-ubuntu-1600045
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [1600057]
[component_container_mt-1] [INFO] [1773024071.806851753] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librealsense2_camera.so
[component_container_mt-1] [INFO] [1773024071.946361811] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1773024071.947631357] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<realsense2_camera::RealSenseNodeFactory>
[component_container_mt-1] [INFO] [1773024071.970519694] [realsense2_camera]: RealSense ROS v4.51.1
[component_container_mt-1] [INFO] [1773024071.970608426] [realsense2_camera]: Built with LibRealSense v2.55.1
[component_container_mt-1] [INFO] [1773024071.970625450] [realsense2_camera]: Running with LibRealSense v2.55.1
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/realsense2_camera’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024071.978254373] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1773024072.015367896] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1773024072.015467988] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ResizeNode
[component_container_mt-1] [INFO] [1773024072.057309535] [resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1773024072.058135964] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1773024072.059776598] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1773024072.064504717] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1773024072.069962469] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2026-03-08 22:41:12.082 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1773024072.083241200] [resize_node]: [ResizeNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024072.083376554] [resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1773024072.096556473] [resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1773024072.096714674] [resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1773024072.100050405] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1773024072.100841827] [resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1773024072.104105656] [resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1773024072.110515623] [resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1773024072.114865038] [resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1773024072.372924712] [resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1773024072.378914313] [resize_node]: [NitrosPublisherSubscriberGroup] Pinning the component “image_sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024072.393659318] [resize_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/resize_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.397209086] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libpad_node.so
[component_container_mt-1] [INFO] [1773024072.444969070] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1773024072.445081993] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::PadNode
[component_container_mt-1] [INFO] [1773024072.453418406] [pad_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1773024072.453616542] [resize_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.454762893] [pad_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/pad_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.563663603] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1773024072.568331180] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1773024072.568430952] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::image_proc::ImageFormatConverterNode
[component_container_mt-1] [INFO] [1773024072.575163177] [image_format_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1773024072.575995846] [image_format_node]: [ImageFormatConverterNode] Set output data format to: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024072.576105793] [image_format_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1773024072.592698687] [image_format_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1773024072.593030961] [image_format_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1773024072.599346148] [image_format_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1773024072.687343491] [image_format_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1773024072.704481418] [image_format_node]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024072.707584038] [image_format_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1773024072.708784947] [pad_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_format_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.714313928] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1773024072.731170618] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1773024072.731272182] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ImageToTensorNode
[component_container_mt-1] [INFO] [1773024072.739757709] [image_to_tensor_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1773024072.739949605] [image_format_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.740049536] [pad_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.742508568] [image_to_tensor_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/image_to_tensor_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.746688806] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1773024072.749280023] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1773024072.749528045] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode
[component_container_mt-1] [INFO] [1773024072.750938961] [realsense2_camera]: Device with serial number 317622073560 was found.
[component_container_mt-1]
[component_container_mt-1] [INFO] [1773024072.751387454] [realsense2_camera]: Device with physical ID 2-3.1-47 was found.
[component_container_mt-1] [INFO] [1773024072.751404221] [realsense2_camera]: Device with name Intel RealSense D435I was found.
[component_container_mt-1] [INFO] [1773024072.751710512] [realsense2_camera]: Device with port number 2-3.1 was found.
[component_container_mt-1] [INFO] [1773024072.751735215] [realsense2_camera]: Device USB type: 3.2
[component_container_mt-1] [INFO] [1773024072.755109087] [realsense2_camera]: getParameters…
[component_container_mt-1] [INFO] [1773024072.755908253] [realsense2_camera]: JSON file is not provided
[component_container_mt-1] [INFO] [1773024072.755977850] [realsense2_camera]: Device Name: Intel RealSense D435I
[component_container_mt-1] [INFO] [1773024072.755996154] [realsense2_camera]: Device Serial No: 317622073560
[component_container_mt-1] [INFO] [1773024072.756008985] [realsense2_camera]: Device physical port: 2-3.1-47
[component_container_mt-1] [INFO] [1773024072.756055607] [realsense2_camera]: Device FW version: 5.13.0.50
[component_container_mt-1] [INFO] [1773024072.756088822] [realsense2_camera]: Device Product ID: 0x0B3A
[component_container_mt-1] [INFO] [1773024072.756134292] [realsense2_camera]: Sync Mode: Off
[component_container_mt-1] [INFO] [1773024072.765979601] [interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1773024072.767070818] [interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1773024072.777594115] [interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1773024072.777965747] [interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1773024072.780963027] [interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1773024072.788254621] [interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1773024072.792993139] [interleaved_to_planar_node]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/interleaved_to_planar_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.793701813] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.793847663] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1773024072.797377017] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1773024072.799721621] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1773024072.799801585] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::ReshapeNode
[component_container_mt-1] [INFO] [1773024072.811046131] [reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1773024072.812164483] [reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1773024072.818789001] [reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1773024072.819015808] [reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1773024072.820715703] [reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1773024072.827538517] [reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1773024072.831720739] [reshape_node]: [NitrosNode] Starting negotiation…
[component_container_mt-1] [INFO] [1773024072.832559391] [interleaved_to_planar_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/reshape_node’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.832947151] [image_to_tensor_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.832990893] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1773024072.837500237] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_preprocessor_node.so
[component_container_mt-1] [INFO] [1773024072.839774668] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1773024072.839829866] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrPreprocessorNode
[component_container_mt-1] [INFO] [1773024072.850263854] [rtdetr_preprocessor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1773024072.850417159] [reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.850719611] [interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1773024072.850955920] [image_to_tensor_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/rtdetr_preprocessor’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.850983791] [image_to_tensor_node]: Could not negotiate
[component_container_mt-1] [INFO] [1773024072.852100096] [rtdetr_preprocessor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[component_container_mt-1] [INFO] [1773024072.855756868] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1773024072.900711051] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1773024072.900822758] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::dnn_inference::TensorRTNode
[component_container_mt-1] [INFO] [1773024072.910230838] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1773024072.912270207] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1773024072.917666330] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1773024072.918177796] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1773024072.919211448] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1773024072.920432580] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1773024072.922459790] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1773024072.941772088] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1773024072.943662567] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component “inference/rx” (type=“nvidia::gxf::DoubleBufferReceiver”) to use its compatible format only: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1773024072.943742884] [tensor_rt]: [NitrosPublisherSubscriberGroup] Pinning the component “sink/sink” (type=“nvidia::isaac_ros::MessageRelay”) to use its compatible format only: “nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1773024072.947859541] [tensor_rt]: [NitrosNode] Starting negotiation…
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/tensor_rt’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024072.948901512] [rtdetr_preprocessor]: Negotiating
[component_container_mt-1] [INFO] [1773024072.951123274] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/librtdetr_decoder_node.so
[component_container_mt-1] [INFO] [1773024072.953627967] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1773024072.953684893] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::rtdetr::RtDetrDecoderNode
[component_container_mt-1] [INFO] [1773024072.961875456] [rtdetr_decoder.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1773024072.961965884] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1773024072.963505915] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/rtdetr_decoder’ in container ‘/isaac_ros_examples/container’
[component_container_mt-1] [INFO] [1773024073.395953925] [resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1773024073.396038369] [resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1773024073.396065088] [resize_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024073.396080319] [resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1773024073.396096703] [resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/resize/camera_info”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1773024073.396107678] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1773024073.396116766] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/image_rect”, data_format=“nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024073.396131037] [resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1773024073.396139325] [resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/camera_info_rect”, data_format=“nitros_camera_info”
[component_container_mt-1] [INFO] [1773024073.396422097] [resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1773024073.410100555] [resize_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/VDUQBLUYBO/VDUQBLUYBO.yaml”
[component_container_mt-1] [INFO] [1773024073.410205095] [resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1773024073.416022095] [resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1773024073.416305859] [resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1773024073.462571092] [resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1773024073.708808077] [image_format_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1773024073.708905449] [image_format_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1773024073.708922761] [image_format_node]: [NitrosPublisher] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024073.708937192] [image_format_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_image_rgb8”
[component_container_mt-1] [INFO] [1773024073.709160926] [image_format_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1773024073.724807397] [image_format_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/KKRATRWQKD/KKRATRWQKD.yaml”
[component_container_mt-1] [INFO] [1773024073.724913697] [image_format_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1773024073.726955146] [image_format_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1773024073.727109155] [image_format_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1773024073.742933538] [image_format_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1773024073.794156480] [interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1773024073.794262172] [interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1773024073.794281019] [interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.794299066] [interleaved_to_planar_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1773024073.794308954] [interleaved_to_planar_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name=“/normalized_tensor”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.794876834] [interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1773024073.799731987] [interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/PHPXTIQLPA/PHPXTIQLPA.yaml”
[component_container_mt-1] [INFO] [1773024073.799835151] [interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1773024073.802191179] [interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1773024073.802356324] [interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1773024073.832838291] [reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1773024073.832946191] [reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1773024073.832962670] [reshape_node]: [NitrosPublisher] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.832974830] [reshape_node]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.833190948] [reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1773024073.837014082] [reshape_node]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/UGSCZLDSZM/UGSCZLDSZM.yaml”
[component_container_mt-1] [INFO] [1773024073.837139741] [reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1773024073.864834275] [interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1773024073.866304996] [reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1773024073.866461182] [reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1773024073.917906738] [reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1773024073.948870638] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1773024073.948970313] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1773024073.948986249] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1773024073.948999336] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name=“/tensor_sub”, data_format=“nitros_tensor_list_nhwc_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.949012455] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: “nitros_tensor_list_nchw_rgb_f32”
[component_container_mt-1] [INFO] [1773024073.949219679] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1773024073.954940907] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to “/tmp/isaac_ros_nitros/graphs/IDDLHQMBSW/IDDLHQMBSW.yaml”
[component_container_mt-1] [INFO] [1773024073.955709419] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2026-03-08 22:41:13.957 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter ‘dev_id’ in component ‘stream’.
[component_container_mt-1] [INFO] [1773024073.957655512] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1773024074.305689267] [tensor_rt]: Read tensor shape information from TRT Model Engine: /workspaces/isaac_ros-dev/isaac_ros_assets/models/synthetica_detr/model.plan
[component_container_mt-1] [INFO] [1773024074.305931945] [tensor_rt]: Tensors 4800 bytes, num outputs 40 x tensors per output 3 = 120 blocks
[component_container_mt-1] [INFO] [1773024074.306093410] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1773024074.307328238] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] [WARN] [1773024077.396791197] [realsense2_camera]: re-enable the stream for the change to take effect.
[component_container_mt-1] [INFO] [1773024077.408189434] [realsense2_camera]: Stopping Sensor: RGB Camera
[component_container_mt-1] [INFO] [1773024077.440473793] [realsense2_camera]: Starting Sensor: RGB Camera
[component_container_mt-1] [INFO] [1773024077.458939219] [realsense2_camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 640, Height: 480, FPS: 15
[component_container_mt-1] [INFO] [1773024077.461071960] [realsense2_camera]: RealSense Node Is Up!
[component_container_mt-1] 08/03 22:41:17,733 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 08/03 22:41:17,743 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 08/03 22:41:17,756 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 08/03 22:41:17,767 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 08/03 22:41:17,778 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] 08/03 22:41:17,789 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[component_container_mt-1] [WARN] [1773024078.019545858] [realsense2_camera]:
[component_container_mt-1] 08/03 22:44:21,933 WARNING [281471218608352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
I use the method in this post How to Use a Custom RT-DETR Model with isaac_ros_rtdetr - #2 by Raffaello but also got the same result. Who can help me?