diff --git a/README.md b/README.md
index 8781fc4..74c58b8 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,10 @@ git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS
 ./YOLOX-ROS/weights/openvino/install.bash yolox_s
 ```
 
+### BUILD
+```
+colcon build --cmake-args -DYOLOX_USE_TENSORRT=ON --packages-select ros_video_player bytetrack_cpp_node bytetrack_cpp bytetrack_viewer yolox_cpp bboxes_ex_msgs yolox_ros_cpp yolox_param --symlink-install
+```
 ### RUN
 ```
 cd ~/ros2_ws
diff --git a/bytetrack_cpp_node/launch/bytetrack_tensorrt.launch.py b/bytetrack_cpp_node/launch/bytetrack_tensorrt.launch.py
new file mode 100644
index 0000000..2c7fac9
--- /dev/null
+++ b/bytetrack_cpp_node/launch/bytetrack_tensorrt.launch.py
@@ -0,0 +1,160 @@
+import os
+import sys
+import launch
+import launch_ros.actions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    launch_args = [
+        DeclareLaunchArgument(
+            "video_path",
+            default_value="/dev/video0",
+            description="input video file path."
+        ),
+        DeclareLaunchArgument(
+            "video_fps",
+            default_value="30",
+            description="video fps."
+        ),
+        DeclareLaunchArgument(
+            "model_path",
+            default_value="./weight/yolox_l.trt",
+            description="yolox model path."
+        ),
+        DeclareLaunchArgument(
+            'p6',
+            default_value='false',
+            description='with p6.'
+        ),
+        DeclareLaunchArgument(
+            "model_version",
+            default_value="0.1.1rc0",
+            description="yolox model version."
+        ),
+        DeclareLaunchArgument(
+            "device",
+            default_value="GPU",
+            description="model device. CPU, GPU, MYRIAD, etc..."
+        ),
+        DeclareLaunchArgument(
+            "conf",
+            default_value="0.3",
+            description="yolox confidence threshold."
+        ),
+        DeclareLaunchArgument(
+            "nms",
+            default_value="0.45",
+            description="yolox nms threshold"
+        ),
+        DeclareLaunchArgument(
+            "save_video",
+            default_value="true",
+            description="record video."
+        ),
+        DeclareLaunchArgument(
+            "save_video_name",
+            default_value="output.mp4",
+            description="record video filename."
+        ),
+        DeclareLaunchArgument(
+            "save_video_fps",
+            default_value="30",
+            description="record video fps."
+        ),
+        DeclareLaunchArgument(
+            "save_video_codec",
+            default_value="MJPG",
+            description="record video codec."
+        ),
+        DeclareLaunchArgument(
+            'num_classes',
+            default_value='80',
+            description='num classes.'
+        ),
+        DeclareLaunchArgument(
+            'tensorrt/device',
+            default_value='0',
+            description='GPU index. Set in string type. ex 0'
+        ),
+
+    ]
+    container = ComposableNodeContainer(
+                name='bytetrack_container',
+                namespace='',
+                package='rclcpp_components',
+                executable='component_container',
+                composable_node_descriptions=[
+                    ComposableNode(
+                        package='ros_video_player',
+                        plugin='ros_video_player::VideoPlayerNode',
+                        name='ros_video_player',
+                        parameters=[{
+                            "publish_topic_name": "/image_raw",
+                            "video_path": LaunchConfiguration("video_path"),
+                            "frame_id": "map",
+                            "loop": True,
+                            "speed": 1.0,
+                            "video_buffer_size": 1,
+                        }]),
+                    ComposableNode(
+                        package='yolox_ros_cpp',
+                        plugin='yolox_ros_cpp::YoloXNode',
+                        name='yolox_ros_cpp',
+                        parameters=[{
+                            "model_path": LaunchConfiguration("model_path"),
+                            "model_type": "tensorrt",
+                            "model_version": LaunchConfiguration("model_version"),
+                            "device": LaunchConfiguration("device"),
+                            "conf": LaunchConfiguration("conf"),
+                            "nms": LaunchConfiguration("nms"),
+                            "imshow_isshow": True,
+                            "src_image_topic_name": "/image_raw",
+                            "publish_image_topic_name": "/yolox/image_raw",
+                            "publish_boundingbox_topic_name": "/yolox/bounding_boxes",
+                            "p6": LaunchConfiguration("p6"),
+                            'num_classes': LaunchConfiguration('num_classes'),
+                            'tensorrt/device': LaunchConfiguration('tensorrt/device'),
+                        }],
+                        ),
+                    ComposableNode(
+                        package='bytetrack_cpp_node',
+                        plugin='bytetrack_cpp_node::ByteTrackNode',
+                        name='bytetrack_cpp_node',
+                        parameters=[{
+                            "video_fps": LaunchConfiguration("video_fps"),
+                            "track_buffer": 30,
+                            "sub_bboxes_topic_name": "/yolox/bounding_boxes",
+                            "pub_bboxes_topic_name": "/bytetrack/bounding_boxes",
+                        }],
+                        ),
+                    ComposableNode(
+                        package='bytetrack_viewer',
+                        plugin='bytetrack_viewer::ByteTrackViewer',
+                        name='bytetrack_viewer',
+                        parameters=[{
+                            "queue_size": 10,
+                            "exact_sync": False,
+                            "sub_image_topic_name": "/image_raw",
+                            "sub_bboxes_topic_name": "/bytetrack/bounding_boxes",
+                            "save_video": LaunchConfiguration("save_video"),
+                            "save_video_name": LaunchConfiguration("save_video_name"),
+                            "save_video_fps": LaunchConfiguration("save_video_fps"),
+                            "save_video_codec": LaunchConfiguration("save_video_codec"),
+                        }],
+                        ),
+                ],
+                output='screen',
+        )
+
+    # rqt_graph = launch_ros.actions.Node(
+    #     package="rqt_graph", executable="rqt_graph",
+    # )
+
+    return launch.LaunchDescription(
+        launch_args
+        + [container]
+        # + [rqt_graph]
+    )
diff --git a/bytetrack_viewer/src/bytetrack_viewer.cpp b/bytetrack_viewer/src/bytetrack_viewer.cpp
index 1a36c56..d1bdca5 100644
--- a/bytetrack_viewer/src/bytetrack_viewer.cpp
+++ b/bytetrack_viewer/src/bytetrack_viewer.cpp
@@ -72,7 +72,7 @@ namespace bytetrack_viewer{
     ByteTrackViewer::~ByteTrackViewer(){
         if(this->video_.isOpened()){
             this->video_.release();
-            RCLCPP_INFO(this->get_logger(), "save as " + this->save_video_name_ + ".");
+            //RCLCPP_INFO(this->get_logger(), "save as " + this->save_video_name_ + ".");
         }
     }
     void ByteTrackViewer::initializeParameter_()
@@ -138,4 +138,4 @@ int main(int argc, char * argv[])
 }
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack_viewer::ByteTrackViewer)
\ No newline at end of file
+RCLCPP_COMPONENTS_REGISTER_NODE(bytetrack_viewer::ByteTrackViewer)