Yolov8 will not load zedx camera due to intraprocess communucation

Software ROS2
,
1

I am trying to run the following example to load a yolov8 model using ros2 and a zedx camera. I have trying setting enable_ipc:=False as well as use_intra_process_comms:=False, but I still get the error: [component_container_mt-2] terminate called after throwing an instance of ‘std::invalid_argument’
[component_container_mt-2] what(): intraprocess communication allowed only with volatile durability
[ERROR] [component_container_mt-2]: process has died [pid 577334, exit code -6, cmd ‘/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=container -r __ns:=/isaac_ros_examples’].

This is the command I am running (I also ran without flags for enable_ipc and use_intra_process_comms) ros2 launch isaac_ros_examples isaac_ros_examples.launch.py enable_ipc:=False launch_fragments:=zed_mono_rect,yolov8 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 interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_yolov8/zedx_quickstart_interface_specs.json use_intra_process_comms:=False

This is my output (beginnig is cut due to length):

[isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-2] [INFO] [1760547753.737073872] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::TensorRTNode>
[component_container_mt-2] [INFO] [1760547753.748080205] [tensor_rt]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1760547753.755670682] [tensor_rt]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1760547753.763596031] [tensor_rt]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1760547753.766030726] [zed_node]: ZED SDK Version: 5.0.7 - Build 104550_3395de9d
[component_container_mt-2] [INFO] [1760547753.766393917] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-2] [INFO] [1760547753.768919010] [tensor_rt]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_tensor_rt.so
[component_container_mt-2] [INFO] [1760547753.770651545] [tensor_rt]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1760547753.773326010] [tensor_rt]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1760547753.773804143] [zed_node]: === CAMERA OPENING ===
[component_container_mt-2] [INFO] [1760547753.798804610] [tensor_rt]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1760547753.801461603] [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-2] [INFO] [1760547753.801569473] [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-2] [INFO] [1760547753.808146790] [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-2] [INFO] [1760547753.811124671] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_to_tensor_node.so
[component_container_mt-2] [INFO] [1760547753.865776407] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-2] [INFO] [1760547753.865893717] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageToTensorNode>
[component_container_mt-2] [INFO] [1760547753.876868146] [yolov8_encoder.image_to_tensor.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1760547753.877312776] [yolov8_encoder.crop_node]: Negotiating
[component_container_mt-2] [INFO] [1760547753.877401574] [yolov8_encoder.crop_node]: Could not negotiate
[component_container_mt-2] [INFO] [1760547753.877486244] [yolov8_encoder.resize_node]: Negotiating
[component_container_mt-2] [INFO] [1760547753.877541826] [yolov8_encoder.image_format_converter_node]: Negotiating
[component_container_mt-2] [INFO] [1760547753.878140116] [yolov8_encoder.resize_node]: Could not negotiate
[component_container_mt-2] [INFO] [1760547753.879462869] [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-2] [INFO] [1760547753.881434118] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libyolov8_decoder_node.so
[component_container_mt-2] [INFO] [1760547753.893674598] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-2] [INFO] [1760547753.893785475] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::yolov8::YoloV8DecoderNode>
[component_container_mt-2] [INFO] [1760547753.904465128] [yolov8_decoder_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1760547753.904801760] [tensor_rt]: Negotiating
[component_container_mt-2] [INFO] [1760547753.904851487] [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-2] [INFO] [1760547753.909855881] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libimage_tensor_normalize_node.so
[component_container_mt-2] [INFO] [1760547753.914018439] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-2] [INFO] [1760547753.914194338] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ImageTensorNormalizeNode>
[component_container_mt-2] [INFO] [1760547753.929468347] [yolov8_encoder.normalize_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container_mt-2] [INFO] [1760547753.929631319] [yolov8_encoder.image_to_tensor]: Negotiating
[component_container_mt-2] [INFO] [1760547753.929690805] [yolov8_encoder.image_to_tensor]: Could not negotiate
[component_container_mt-2] [INFO] [1760547753.931979583] [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-2] [INFO] [1760547753.941043242] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libinterleaved_to_planar_node.so
[component_container_mt-2] [INFO] [1760547753.943506416] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-2] [INFO] [1760547753.943572782] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::InterleavedToPlanarNode>
[component_container_mt-2] [INFO] [1760547753.957625155] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1760547753.962243446] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1760547753.970366583] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1760547753.972671040] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1760547753.974690161] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Running optimization
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/interleaved_to_planar_node' in container '/isaac_ros_examples/container'
[component_container_mt-2] [INFO] [1760547753.981823305] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1760547753.988364783] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting negotiation...
[component_container_mt-2] [INFO] [1760547753.989947017] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-2] [INFO] [1760547753.994216677] [isaac_ros_examples.container]: Load Library: /opt/ros/humble/lib/libreshape_node.so
[component_container_mt-2] [INFO] [1760547753.996711082] [isaac_ros_examples.container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-2] [INFO] [1760547753.996773992] [isaac_ros_examples.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::dnn_inference::ReshapeNode>
[component_container_mt-2] [INFO] [1760547754.001062179] [yolov8_encoder.resize_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.002609567] [yolov8_encoder.resize_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.002712541] [yolov8_encoder.resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.003025365] [yolov8_encoder.resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/resize/image", data_format="nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.003059476] [yolov8_encoder.resize_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.003072852] [yolov8_encoder.resize_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1760547754.003086964] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.003103699] [yolov8_encoder.resize_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.003114963] [yolov8_encoder.resize_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/camera_info_rect", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1760547754.003840994] [yolov8_encoder.resize_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547754.019566447] [yolov8_encoder.resize_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/EUGVNZDAMU/EUGVNZDAMU.yaml"
[component_container_mt-2] [INFO] [1760547754.019685965] [yolov8_encoder.resize_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547754.024758389] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing NitrosNode
[component_container_mt-2] [INFO] [1760547754.024901010] [yolov8_encoder.resize_node]: [ResizeNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547754.025077389] [yolov8_encoder.resize_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547754.028744407] [yolov8_encoder.reshape_node]: [NitrosNode] Starting NitrosNode
[component_container_mt-2] [INFO] [1760547754.037628006] [yolov8_encoder.reshape_node]: [NitrosNode] Loading extensions
[component_container_mt-2] [INFO] [1760547754.040525953] [yolov8_encoder.resize_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1760547754.043388798] [yolov8_encoder.reshape_node]: [NitrosNode] Loading graph to the optimizer
[component_container_mt-2] [INFO] [1760547754.046193084] [yolov8_encoder.reshape_node]: [NitrosNode] Running optimization
[component_container_mt-2] [INFO] [1760547754.053865959] [yolov8_encoder.reshape_node]: [NitrosNode] Obtaining graph IO group info from the optimizer
[component_container_mt-2] [INFO] [1760547754.063924698] [yolov8_encoder.reshape_node]: [NitrosNode] Starting negotiation...
[component_container_mt-2] [INFO] [1760547754.068481679] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-2] [INFO] [1760547754.069129055] [yolov8_encoder.normalize_node]: Negotiating
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/yolov8_encoder/reshape_node' in container '/isaac_ros_examples/container'
[component_container_mt-2] [INFO] [1760547754.137811501] [yolov8_encoder.reshape_node]: Negotiating
[component_container_mt-2] [INFO] [1760547754.138092166] [yolov8_encoder.interleaved_to_planar_node]: Negotiating
[component_container_mt-2] [INFO] [1760547754.138358048] [yolov8_encoder.normalize_node]: Negotiating
[component_container_mt-2] [INFO] [1760547754.178113719] [image_format_node_left]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.178214581] [image_format_node_left]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.178236372] [image_format_node_left]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.178254996] [image_format_node_left]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.178267507] [image_format_node_left]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/zed_node/left/image_rect_color", data_format="nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.178625739] [image_format_node_left]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547754.197526061] [image_format_node_left]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/EPESGXRGLO/EPESGXRGLO.yaml"
[component_container_mt-2] [INFO] [1760547754.197633163] [image_format_node_left]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547754.200312748] [image_format_node_left]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547754.200482920] [image_format_node_left]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547754.220757610] [image_format_node_left]: [NitrosNode] Node was started
[component_container_mt-2] [2025-10-15 17:02:34 UTC][ZED][INFO] Logging level INFO
[component_container_mt-2] [INFO] [1760547754.365127488] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.365234749] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.365257373] [yolov8_encoder.image_format_converter_node]: [NitrosPublisher] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.365274108] [yolov8_encoder.image_format_converter_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.365285052] [yolov8_encoder.image_format_converter_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/yolov8_encoder/resize/image", data_format="nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.365553622] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547754.381942067] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/SGJDMWJOZG/SGJDMWJOZG.yaml"
[component_container_mt-2] [INFO] [1760547754.382072368] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547754.383772072] [yolov8_encoder.image_format_converter_node]: [ImageFormatConverterNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547754.383865062] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547754.388665301] [yolov8_encoder.image_format_converter_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1760547754.698080121] [yolov8_encoder.crop_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.698184503] [yolov8_encoder.crop_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.698207318] [yolov8_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.698223510] [yolov8_encoder.crop_node]: [NitrosPublisher] Use only the compatible publisher: topic_name="/yolov8_encoder/crop/image", data_format="nitros_image_bgr8"
[component_container_mt-2] [INFO] [1760547754.698240597] [yolov8_encoder.crop_node]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.698249877] [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-2] [INFO] [1760547754.698262549] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.698340979] [yolov8_encoder.crop_node]: [NitrosSubscriber] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.698360050] [yolov8_encoder.crop_node]: [NitrosSubscriber] Use the compatible subscriber: topic_name="/yolov8_encoder/resize/camera_info", data_format="nitros_camera_info"
[component_container_mt-2] [INFO] [1760547754.698388018] [yolov8_encoder.crop_node]: [NitrosPublisherSubscriberGroup] Adjusted the compatible format of the component "image_sink/sink" (type="nvidia::isaac_ros::MessageRelay") from "nitros_image_bgr8" to "nitros_image_rgb8"
[component_container_mt-2] [INFO] [1760547754.698661995] [yolov8_encoder.crop_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [2025-10-15 17:02:34 UTC][ZED][INFO] [Init]  Health check functionality is limited when DEPTH_MODE::NONE is enabled, as it relies on the depth pipeline for image processing.
[component_container_mt-2] [2025-10-15 17:02:34 UTC][ZED][INFO] [Init]  Depth mode: NONE
[component_container_mt-2] [INFO] [1760547754.755924550] [yolov8_encoder.crop_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/NEJQBXHMOO/NEJQBXHMOO.yaml"
[component_container_mt-2] [INFO] [1760547754.756101058] [yolov8_encoder.crop_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547754.759655054] [yolov8_encoder.crop_node]: [CropNode] postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547754.759835946] [yolov8_encoder.crop_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547754.764021479] [yolov8_encoder.crop_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1760547754.815781059] [tensor_rt]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.815892641] [tensor_rt]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.815913152] [tensor_rt]: [NitrosPublisher] Negotiation ended with no results
[component_container_mt-2] [INFO] [1760547754.815928512] [tensor_rt]: [NitrosPublisher] Use only the compatible publisher: topic_name="/tensor_sub", data_format="nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-2] [INFO] [1760547754.815944063] [tensor_rt]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1760547754.816219513] [tensor_rt]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547754.823138486] [tensor_rt]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/NHWJPSHKLJ/NHWJPSHKLJ.yaml"
[component_container_mt-2] [INFO] [1760547754.823297970] [tensor_rt]: [NitrosNode] Loading application
[component_container_mt-2] 2025-10-15 13:02:34.825 WARN  gxf/std/yaml_file_loader.cpp@1076: Using unregistered parameter 'dev_id' in component 'stream'.
[component_container_mt-2] [INFO] [1760547754.825579868] [tensor_rt]: In TensorRTNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547754.990199797] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547754.990321074] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547754.990349553] [yolov8_encoder.interleaved_to_planar_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1760547754.990373585] [yolov8_encoder.interleaved_to_planar_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nhwc_rgb_f32"
[component_container_mt-2] [INFO] [1760547754.990691785] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547754.996339172] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/BQLJQGLYRH/BQLJQGLYRH.yaml"
[component_container_mt-2] [INFO] [1760547754.996464257] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547754.999838897] [yolov8_encoder.interleaved_to_planar_node]: In InterleavedToPlanarNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547755.000039597] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547755.011890901] [yolov8_encoder.interleaved_to_planar_node]: [NitrosNode] Node was started
[component_container_mt-2] [INFO] [1760547755.068291012] [yolov8_encoder.reshape_node]: [NitrosNode] Starting post negotiation setup
[component_container_mt-2] [INFO] [1760547755.068400418] [yolov8_encoder.reshape_node]: [NitrosNode] Getting data format negotiation results
[component_container_mt-2] [INFO] [1760547755.068423745] [yolov8_encoder.reshape_node]: [NitrosPublisher] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1760547755.068447233] [yolov8_encoder.reshape_node]: [NitrosSubscriber] Use the negotiated data format: "nitros_tensor_list_nchw_rgb_f32"
[component_container_mt-2] [INFO] [1760547755.068728154] [yolov8_encoder.reshape_node]: [NitrosNode] Exporting the final graph based on the negotiation results
[component_container_mt-2] [INFO] [1760547755.073698437] [yolov8_encoder.reshape_node]: [NitrosNode] Wrote the final top level YAML graph to "/tmp/isaac_ros_nitros/graphs/JNVNKWDWLN/JNVNKWDWLN.yaml"
[component_container_mt-2] [INFO] [1760547755.073841185] [yolov8_encoder.reshape_node]: [NitrosNode] Loading application
[component_container_mt-2] [INFO] [1760547755.076216297] [yolov8_encoder.reshape_node]: In ReshapeNode postLoadGraphCallback().
[component_container_mt-2] [INFO] [1760547755.076400069] [yolov8_encoder.reshape_node]: [NitrosNode] Initializing and running GXF graph
[component_container_mt-2] [INFO] [1760547755.089558991] [yolov8_encoder.reshape_node]: [NitrosNode] Node was started
[component_container_mt-2] [ZED-X][Warning] Failed to connect to zed_x_daemon.
[component_container_mt-2] [2025-10-15 17:02:36 UTC][ZED][INFO] [Init]  Camera FW version: 2001
[component_container_mt-2] [2025-10-15 17:02:36 UTC][ZED][INFO] [Init]  Video mode: HD1200@30
[component_container_mt-2] [2025-10-15 17:02:36 UTC][ZED][INFO] [Init]  Serial Number: S/N 46925343
[component_container_mt-2] [2025-10-15 17:02:37 UTC][ZED][WARNING] [Init]  Self-calibration skipped. Scene may be occluded or lack texture.
[component_container_mt-2] [INFO] [1760547757.493680631] [zed_node]:  * ZED SDK running on GPU #0
[component_container_mt-2] [INFO] [1760547757.493814324] [zed_node]:  * Camera Model  -> ZED X
[component_container_mt-2] [INFO] [1760547757.493916849] [zed_node]:  * Serial Number -> 46925343
[component_container_mt-2] [INFO] [1760547757.494057838] [zed_node]:  * Focal Lenght	-> 3.81081 mm
[component_container_mt-2] [INFO] [1760547757.494100269] [zed_node]:  * Input		-> GMSL
[component_container_mt-2] [INFO] [1760547757.494124460] [zed_node]:  * Camera FW Version  -> 2001
[component_container_mt-2] [INFO] [1760547757.494138252] [zed_node]:  * Sensors FW Version -> 1000
[component_container_mt-2] [INFO] [1760547757.494153932] [zed_node]:  * Camera grab size -> 1920x1200
[component_container_mt-2] [INFO] [1760547757.494169995] [zed_node]:  * Color/Depth publishing size -> 1920x1200
[component_container_mt-2] [INFO] [1760547757.494184043] [zed_node]:  * Point Cloud publishing size -> 448x256
[component_container_mt-2] [INFO] [1760547757.494216490] [zed_node]: === TF FRAMES ===
[component_container_mt-2] [INFO] [1760547757.494229930] [zed_node]:  * Map			-> map
[component_container_mt-2] [INFO] [1760547757.494239562] [zed_node]:  * Odometry		-> odom
[component_container_mt-2] [INFO] [1760547757.494249097] [zed_node]:  * Base			-> 
[component_container_mt-2] [INFO] [1760547757.494258153] [zed_node]:  * Camera		-> zedx_camera_center
[component_container_mt-2] [INFO] [1760547757.494267113] [zed_node]:  * Left			-> zedx_left_camera_frame
[component_container_mt-2] [INFO] [1760547757.494276041] [zed_node]:  * Left Optical		-> zedx_left_camera_optical_frame
[component_container_mt-2] [INFO] [1760547757.494284841] [zed_node]:  * Right			-> zedx_right_camera_frame
[component_container_mt-2] [INFO] [1760547757.494293896] [zed_node]:  * Right Optical		-> zedx_right_camera_optical_frame
[component_container_mt-2] [INFO] [1760547757.494303592] [zed_node]:  * IMU			-> zedx_imu_link
[component_container_mt-2] [INFO] [1760547757.494365319] [zed_node]: === PUBLISHED TOPICS ===
[component_container_mt-2] [INFO] [1760547757.498161485] [zed_node]: Advertised on topic: /zed_node/status/health
[component_container_mt-2] [INFO] [1760547757.500474295] [zed_node]: Advertised on topic: /zed_node/status/heartbeat
[component_container_mt-2] terminate called after throwing an instance of 'std::invalid_argument'
[component_container_mt-2]   what():  intraprocess communication allowed only with volatile durability
[ERROR] [component_container_mt-2]: process has died [pid 577632, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=container -r __ns:=/isaac_ros_examples'].

How do I use volatile so that this command will run?

2

Hi @scruz10FAU

Please read the ZED Isaac ROS integration documentation, and in particular, this troubleshooting section.

Please note that the launch system is case sensitive. It’s enable_ipc:=false, not enable_ipc:=False and you must use this command with the ZED launch files.

3

I did use that flag when I ran the command (both cases just to double check), but it did not work.

Do I need to change where the flag is written?

5

I am able to get it to work if I open the camera in a different terminal window with the correct flag, but I cannot get it to run using the launch fragments in one command.

6

You must use that flag with the ZED Wrapper launch file as explained in the documentation.

How do you start the ZED node?

7

This command launches the zed node as one of the launch fragments:

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=zed_mono_rect,yolov8 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 interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_yolov8/zedx_quickstart_interface_specs.json

I did not realize I could not use it to launch both fragments and need to do them separately for any application that uses the zed cameras. This documentation does not explain that and just says to change the zed model:

isaac_ros_yolov8 — isaac_ros_docs documentation

8

The problem is here:

The value of use_intra_process_comms is hard coded.

All the launch files created by NVIDIA cannot work with the ZED ROS2 Wrapper as they are:

They must be changed to:
extra_arguments=[{'use_intra_process_comms': False}]

This is a mandatory requirement to use NITROS:

9

I don’t have any folder called isaac_ros_examples. I only have whatever is in isaac_ros_common. Where do I find those launch files?

10

Have you installed the isaac_ros_examples and isaac_ros_zed packages using apt?
The launch files are in the /opt/ros/humble/share/isaac_ros_zed/launch/

11

I can’t find those packages when I try to install using apt. I modified the file located at cd ${ISAAC_ROS_WS}/src/zed-ros2-wrapper/zed_wrapper/launch/zed_camera.launch.py but it made no difference.

12

That’s because the Isaac ROS examples use different launch files.
You must find the file that I linked above on your PC and modify them.

13

The file does not exist on my system. I searched on host and the container.

14

Please check it better because it’s not possible that the ZED SDK processing is started without a launch file for the ZED node.

The example launch file with the launch_fragments:=zed_mono_rect option starts the isaac_ros_zed_mono_rect_core.launch.py launch file from the isaac_ros_zed package:

The class IsaacROSZedMonoRectLaunchFragment is defined here:

If you cannot find a solution, I recommend you contact the NVIDIA Isaac ROS engineers on the NVIDIA Developers forum, adding a link to this discussion.

15

I was able to resolve it finally. These are the steps I took. All commands run inside the container:

Listed isaac_ros_examples package:
ros2 pkg list | grep isaac_ros_examples

Located isaac_ros_examples package:
ros2 pkg prefix isaac_ros_examples

This returned /opt/ros/humble so I cd-ed to that folder

cd /opt/ros/humble/

Next, I searched for filenames with “mono” in them (launch returned too much):

find . -type f -name "*mono*"

If found files in the below folder that I cd-ed to:

cd share/isaac_ros_zed/launch/

Next I searched for the term “intra_process_comms” in all the files using grep:

grep -r "intra_process_comms"

I found several results that set it to True, so I used sed to set them all to false:

sed -i "s/'use_intra_process_comms': True/'use_intra_process_comms': False/g" *.py

Now the initial command is working :smiley:

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