4 x 3D cam on the Xavier NX devkit

[Mt.Hiker]

Dear,

Does any body try this combination?

• 4 x Astra 3D camera
• driver pkg: astra_camera - ROS Wiki
• NVIDIA Jetson Xavier NX devkit (aarch64)
• OS: Ubuntu 20.04
• ROS: Noetic

What happened:

1. when connecting 4 x Astra cams to the [J6][J7]USB type A connectors on the target, lsusb can show everything
   

   

2. ros launch for each cam
   $ roslaunch astra_camera astra.launch
   when launching 4th cam, ROS core crashed but lsusb still show everything

3. multi cam
   $ roslaunch astra_camera multi_astra.launch
   when launching multi_astra.launch, ROS waits some cam permanently.
   And IR indicating Red LEDs do not ON at random Cams.

About power feeding issue, I tested a powered USB 3.0 hub as well, but not resolved.
Each cam consumes < 2.4W.

Any idea about it?
Thanks

[dusty_nv]

Hi @Mt.Hiker, I’m not familiar with the Astra camera or it’s ROS nodes, but are you able to test these cameras outside of ROS to narrow down if it’s an issue related to ROS or not? Is the any relevant dmesg kernel log when you try running multiple cameras?

[Mt.Hiker]

Hi @dusty_nv
I’m trying to test it as you said too.
When it comes to ROS, this combination works at some kind of x86 mini PC.
Would you let me know USB bandwidth of JNX devkit?

Thanks,

[DaneLLL]

Hi,
The cameras look to be USB2 cameras. It is possible to hit bandwidth constraint. Please check the relevant topic:
connected more than two usb cameras problem on deepstream-app (Jetson Nano Dev Kit) - #12 by DaneLLL

The USB design is same for Jetson Nano and Xavier NX developer kits, that there is embedded USB bub connecting to one USB3 roothub. For having 5Gbps bandwidth, we would suggest use USB3 cameras.

[Mt.Hiker]

Thanks @DaneLLL