cuVSLAM Initialization Failure on Jetson Orin AGX (AAEON BOXER-8646AI) with RealSense D435

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

I’m running Isaac ROS Visual SLAM (cuVSLAM) inside the official isaac_ros_dev Docker container on a Jetson Orin AGX (AAEON BOXER-8646AI) with a RealSense D435.

When I launch cuVSLAM:

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py \
  launch_fragments:=realsense_stereo_rect,visual_slam \
  interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json \
  base_frame:=camera_link \
  camera_optical_frames:="['camera_infra1_optical_frame', 'camera_infra2_optical_frame']"

I get:

[component_container_mt-1] [INFO] [visual_slam_node]: Initializing cuVSLAM.
[component_container_mt-1] [INFO] [visual_slam_node]: Use use_gpu: true
[component_container_mt-1] [INFO] [visual_slam_node]: Enable IMU Fusion: false
[component_container_mt-1] [INFO] [visual_slam_node]: Time taken by CUVSLAM_CreateTracker(): 0.000009
[component_container_mt-1] [ERROR] [visual_slam_node]: Failed to initialize CUVSLAM tracker: 4

Notes:

  • On RTX3050 laptop, same camera + firmware + launch command → works fine.

  • On Jetson Orin AGX: inside container, RealSense viewer rgb8 shows black image over stereo data, but yuyv works. On host system, rgb8 works (same librealsense version 2.55.1)

Questions:

  • What does error code 4 from CUVSLAM_CreateTracker() mean?

  • Is the cuVSLAM failure related to rgb8 black frames inside the container on Jetson?

  • Any known fixes for running cuVSLAM with D435 on Jetson Orin AGX?

12

Hi @avdalvi2

Thank you for your post.

We just now verified both cases (rgb8 in RealSense Viewer and Isaac ROS Visual SLAM) you mentioned. The system is D435 inside container on AGX Orin with JetPack 6.2 + Isaac ROS 3.2.

Could you please check if all required versions are correct? Any deviation from these versions will break Isaac ROS examples
RealSense firmware version 5.13.0.50
librealsense SDK version 2.55.1
realsense-ros driver version 4.51.1-isaac.

Best,
Ahung

13

Hi Ahung,

Thanks for your reply.

We verified all versions on our setup (Jetson AGX Orin, JetPack 6.3, Isaac ROS 3.2, inside container):

  • JetPack / L4T:

    head -n 1 /etc/nv_tegra_release
# R36 (release), REVISION: 3.0

  • realsense-ros driver:

    ros-humble-realsense2-camera  4.51.1-0jammy   [installed]
(apt suggests upgrade available: 4.55.1, but we are on 4.51.1 as required)

  • librealsense SDK:

    rs-enumerate-devices --version
rs-enumerate-devices  version: 2.55.1.0

  • Firmware (D435):

    Firmware Version              : 5.13.0.50
Recommended Firmware Version  : 5.16.0.1

So our setup exactly matches the Isaac ROS requirements:

  • Firmware = 5.13.0.50

  • librealsense = 2.55.1

  • realsense-ros = 4.51.1-isaac (4.51.1-0jammy)

The only difference is Jetpack/ L4T revision is showing 3.0, which i believe corresponds to Jetpack 6.3

14

Hi @avdalvi2

Thanks for the details.

# R36 (release), REVISION: 3.0

This is Jetson Linux 36.3 installed with JetPack 6.0. If your system cannot upgrade to JetPack 6.2 for Isaac ROS 3.2, please follow the Isaac ROS 3.1 documentation to install the container and set up the realsense camera.

Reference
JetPack Archive
Isaac ROS 3.1 - Getting Started

Best,
Ahung