I’m trying to follow: isaac_ros_yolov8 — isaac_ros_docs documentation
However it takes very long (>1h before I ctrl-c) to rebuild CUDA engine:
[component_container_mt-1] 2026-06-11 08:46:18.718 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@284: Rebuilding CUDA engine /workspaces/isaac_ros-dev/isaac_ros_assets/models/yolov8/yolov8s.plan (forced by config). Note: this process may take up to several minutes.
Although interestingly the plan file is actually generated, and usable on the second run, yolo inference result could be seen on rqt.
I did not measure the time needed before the plan file is there. But on an later small proj I made on my own (it’s basically the same as official yolov8 demo, just uses a yolo26-pose model I trained myself), it took ~4 min for the file to appear.
In the log I noticed:
[component_container_mt-1] 2026-06-11 08:46:14.936 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
...
[component_container_mt-1] 2026-06-11 08:46:16.388 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
Wonder if it’s related?
Full log here:
admin@ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=yolov8 interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_yolov8/quickstart_interface_specs.json \
model_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/yolov8/yolov8s.onnx engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/yolov8/yolov8s.plan
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-06-11-08-46-14-384863-ubuntu-52504
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [52517]
[component_container_mt-1] [INFO] [1781167574.827898561] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libresize_node.so
[component_container_mt-1] [INFO] [1781167574.880798795] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1781167574.880886125] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ResizeNode>
[component_container_mt-1] [INFO] [1781167574.906114135] [yolov8_encoder.resize_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167574.906604354] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1781167574.910667739] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container_mt-1] [INFO] [1781167574.915836301] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container_mt-1] [INFO] [1781167574.921633260] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container_mt-1] 2026-06-11 08:46:14.936 WARN gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container_mt-1] [INFO] [1781167574.936780217] [yolov8_encoder.resize_node]: [ResizeNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167574.936910524] [yolov8_encoder.resize_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167574.951560989] [yolov8_encoder.resize_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167574.951796835] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1781167574.955678424] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_message_compositor.so
[component_container_mt-1] [INFO] [1781167574.956393384] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1781167574.960427680] [yolov8_encoder.resize_node]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensorops.so
[component_container_mt-1] [INFO] [1781167574.966649289] [yolov8_encoder.resize_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167574.971929789] [yolov8_encoder.resize_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.245819936] [yolov8_encoder.resize_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.251482844] [yolov8_encoder.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] [1781167575.269912849] [yolov8_encoder.resize_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/resize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.272028960] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libtensor_rt_node.so
[component_container_mt-1] [INFO] [1781167575.333399045] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1781167575.333504391] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-1] [INFO] [1781167575.339167620] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167575.340169178] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167575.345768309] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167575.346183710] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1781167575.347260789] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-1] [INFO] [1781167575.348527505] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167575.350897157] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.373385684] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.375319646] [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] [1781167575.375390464] [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] [1781167575.379731455] [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] [1781167575.380729717] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_format_converter_node.so
[component_container_mt-1] [INFO] [1781167575.383656981] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1781167575.383710870] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::ImageFormatConverterNode>
[component_container_mt-1] [INFO] [1781167575.389686362] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167575.390465483] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] Set output data format to: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167575.390580781] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167575.405093964] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167575.405654489] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167575.407437664] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.493230237] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.507386613] [yolov8_encoder.image_format_converter_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] [1781167575.510087216] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1781167575.510815360] [yolov8_encoder.resize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_format_converter_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.513898788] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libyolov8_decoder_node.so
[component_container_mt-1] [INFO] [1781167575.529049649] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1781167575.529164979] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-1] [INFO] [1781167575.536818427] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1781167575.536912638] [tensor_rt]: Negotiating
[component_container_mt-1] [INFO] [1781167575.536984223] [tensor_rt]: Could not negotiate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_decoder_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.541000599] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libcrop_node.so
[component_container_mt-1] [INFO] [1781167575.544672680] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1781167575.544727049] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::image_proc::CropNode>
[component_container_mt-1] [INFO] [1781167575.550197665] [yolov8_encoder.crop_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167575.551161975] [yolov8_encoder.crop_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167575.564668096] [yolov8_encoder.crop_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167575.565259085] [yolov8_encoder.crop_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167575.569021023] [yolov8_encoder.crop_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.625101808] [yolov8_encoder.crop_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.633672236] [yolov8_encoder.crop_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/crop_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.634727267] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.634825989] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.635372945] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.635889853] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.635956382] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1781167575.635980863] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.635992799] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-1] [INFO] [1781167575.637701445] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-1] [INFO] [1781167575.689060141] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1781167575.689148335] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-1] [INFO] [1781167575.697803758] [yolov8_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1781167575.697976433] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.698111924] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.698131733] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.699918300] [yolov8_encoder.image_to_tensor.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/image_to_tensor' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.783131041] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-1] [INFO] [1781167575.785530422] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1781167575.785580791] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-1] [INFO] [1781167575.793271872] [yolov8_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-1] [INFO] [1781167575.793367586] [yolov8_encoder.image_to_tensor]: Negotiating
[component_container_mt-1] [INFO] [1781167575.793425411] [yolov8_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-1] [INFO] [1781167575.794514267] [yolov8_encoder.normalize_node.ManagedNitrosPublisher]: Starting Managed Nitros Publisher
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/normalize_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.799254019] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-1] [INFO] [1781167575.801494580] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1781167575.801542646] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-1] [INFO] [1781167575.808657746] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167575.809698089] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167575.817002025] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167575.817482612] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167575.819461023] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.826046864] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.829871236] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-1] [INFO] [1781167575.830534259] [yolov8_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.833627703] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-1] [INFO] [1781167575.836011115] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1781167575.836075308] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-1] [INFO] [1781167575.842948292] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1781167575.843883928] [yolov8_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1781167575.850458697] [yolov8_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1781167575.850943411] [yolov8_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-1] [INFO] [1781167575.852848029] [yolov8_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-1] [INFO] [1781167575.859772341] [yolov8_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-1] [INFO] [1781167575.863878736] [yolov8_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-1] [INFO] [1781167575.864930215] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.865319599] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.934522016] [yolov8_encoder.reshape_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.934863016] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-1] [INFO] [1781167575.935188687] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-1] [INFO] [1781167576.270980998] [yolov8_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.271079720] [yolov8_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.271109705] [yolov8_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.271125705] [yolov8_encoder.resize_node]: [NitrosPublisher] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1781167576.271136618] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1781167576.271147082] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/image_rect", data_format="nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.271161514] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-1] [INFO] [1781167576.271169738] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1781167576.271480849] [yolov8_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.285077340] [yolov8_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/QLCKHOVMDZ/QLCKHOVMDZ.yaml"
[component_container_mt-1] [INFO] [1781167576.285163966] [yolov8_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1781167576.292501824] [yolov8_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.292674595] [yolov8_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167576.321469245] [yolov8_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1781167576.380505615] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.380586513] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.380607153] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1781167576.380622993] [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] [1781167576.380637074] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1781167576.380834582] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.386601365] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/TATXFHVOQU/TATXFHVOQU.yaml"
[component_container_mt-1] [INFO] [1781167576.386662646] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-1] 2026-06-11 08:46:16.388 WARN gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-1] [INFO] [1781167576.389975455] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.510870690] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.510986116] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.511008261] [yolov8_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.511026277] [yolov8_encoder.image_format_converter_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.511293931] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.528181598] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/LKHCFDLDNP/LKHCFDLDNP.yaml"
[component_container_mt-1] [INFO] [1781167576.528294369] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1781167576.529898020] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.530028487] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167576.535055030] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1781167576.634795655] [yolov8_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.634894217] [yolov8_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.634932522] [yolov8_encoder.crop_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.634954058] [yolov8_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-1] [INFO] [1781167576.634968203] [yolov8_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/crop/camera_info", data_format="nitros_camera_info"
[component_container_mt-1] [INFO] [1781167576.634983147] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-1] [INFO] [1781167576.635047276] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_camera_info"
[component_container_mt-1] [INFO] [1781167576.635321843] [yolov8_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.685063640] [yolov8_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/HXZIBWBXDB/HXZIBWBXDB.yaml"
[component_container_mt-1] [INFO] [1781167576.685190651] [yolov8_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1781167576.688644103] [yolov8_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.688862124] [yolov8_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167576.693845754] [yolov8_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1781167576.830640922] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.830739292] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.830759164] [yolov8_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1781167576.830779709] [yolov8_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-1] [INFO] [1781167576.831042019] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.835464836] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/ZRTPXPMJPD/ZRTPXPMJPD.yaml"
[component_container_mt-1] [INFO] [1781167576.835569606] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1781167576.837494448] [yolov8_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.837618515] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167576.846506679] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1781167576.864677670] [yolov8_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-1] [INFO] [1781167576.864761992] [yolov8_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-1] [INFO] [1781167576.864781065] [yolov8_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1781167576.864797673] [yolov8_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-1] [INFO] [1781167576.865085935] [yolov8_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-1] [INFO] [1781167576.869336589] [yolov8_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/CLWFAAWVJY/CLWFAAWVJY.yaml"
[component_container_mt-1] [INFO] [1781167576.869439247] [yolov8_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-1] [INFO] [1781167576.871607967] [yolov8_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-1] [INFO] [1781167576.871747650] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167576.881307540] [yolov8_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-1] [INFO] [1781167578.704087432] [tensor_rt]: Read tensor shape information from ONNX file: /workspaces/isaac_ros-dev/isaac_ros_assets/models/yolov8/yolov8s.onnx
[component_container_mt-1] [INFO] [1781167578.704309805] [tensor_rt]: Tensors 2822400 bytes, num outputs 40 x tensors per output 1 = 40 blocks
[component_container_mt-1] [INFO] [1781167578.704485457] [tensor_rt]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-1] [INFO] [1781167578.718135261] [tensor_rt]: [NitrosNode] Node was started
[component_container_mt-1] 2026-06-11 08:46:18.718 WARN ./gxf/extensions/tensor_rt/tensor_rt_inference.cpp@284: Rebuilding CUDA engine /workspaces/isaac_ros-dev/isaac_ros_assets/models/yolov8/yolov8s.plan (forced by config). Note: this process may take up to several minutes.
JetPack 6.2.1, Isaac ROS 3.2. Env is setup according to official doc, in Docker flow.
Thanks!