IntelRealSense no connected device

Autonomous Machines Robotics - Isaac Isaac ROS
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Hi,
I was following the guide to run isaac_ros_foundationpose or isaac_ros_visual_slam with a D455 RealSense.
I had the isaac_ros_visual_slam once running on the jetson orin nano 8GB, however when doing it again the issues started.
First, downloaded isaac_ros_common again, however when building it now, it needs at least CUDA >12.0, mine was CUDA 11.2, trying to update CUDA destroyed everything, therefore, I installed Jetpack 6.0 rev2 including CUDA 12.2 and Ubuntu 22.04.
I was able to build the isaac_ros_common container then.
Tried to setup the RealSense camera according to the instructions, however the camera is not recognized.

  • Installed librealsense version 2.55.1 as required, however realsense-viewer does not recognize the camera
  • started realsense-viewer in the isaac_ros_common container, it recognizes the camera there somehow, but only the depth camera
  • tried to run isaac_ros_foundationpose or isaac_ros_visual_slam examples however no camera topic (rgb, depth, etc.) is published
  • tried to downgrade the firmware version to 5.13.0.50 as required, tried to do that rs-fw-update tool from realsense, however it does not recognize the camera so I downgraded the firmware with a Windows PC, still not recognized
  • Running ros2 launch realsense2_camera rs_launch.py outputs No RealSense devices found
  • tried to see if the cheese software can get a video feed from the realsense, however the cheese software brings the following error: JPEG parameter struct mismatch: library thinks size is 584, caller expects 728, and the program does not even start, however when I disconnect the RealSense cheese does start and there is no error
  • Also checked the UDEV rules /etc/udev/rules.d/99-realsense-libusb.rules, which seem fine
  • Went through the troubleshooting already nothing really helped

Did anyone try to run the RealSense camera with Jetpack 6.0 rev2 since this is according to the website the required version for ISAAC ROS?
Does anyone have a solution for the described issues?

Thanks,
Lucas

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Hi @lucas.falch ,

Welcome to the Isaac ROS forum and thank you for your post.

Running ros2 launch realsense2_camera rs_launch.py outputs No RealSense devices found

Could you try this step insider the docker and test again? Please make sure to repeat this step in every terminal created inside the Docker container.

cd ${ISAAC_ROS_WS}/ && source install/setup.bash

Let me know.

Best,
Ahung

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Hi Ahung,

Thanks for your quick response.

Running source install/setup.bash did the trick!
I was also able to install the RealSense SDK from source, allowing it to work with JetPack 6. Here’s the installation script I used:

Do you have any recommendations on managing new NVIDIA releases? For example, the current release of isaac_ros_common doesn’t build with an older JetPack version due to CUDA 11.2. It’s also not entirely clear from the isaac_ros_common package documentation which JetPack version to use.

Would you suggest upgrading to JetPack 6.1 with ISAAC ROS, or is ISAAC ROS fully supported in JetPack 6.1 already? I noticed that it’s still marked as “coming soon” on the JetPack release page.

Thanks again for your help!

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Hi @lucas.falch ,

Isaac ROS 3.1 is only compatible with Jetpack 6.0 at this moment.
The system requirement is noted in getting_started.

Best,
Ahung

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ok thanks for clarifying.

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