Isaac ros realsense-viewer work slowly or no frames

[zt_minto]

Hi,
The HW is Xavier NX. The Jackpack is 5.1.2, L4T 35.4.1.
The camera is realsense D435i.

Under the isaac ros container, the realsense-viewer image or imu data is very slow or no frames.
The realsense-viewer setup followed below:
https://nvidia-isaac-ros.github.io/getting_started/hardware_setup/sensors/realsense_setup.html

Outside the container, the realsese-viewer works good, the image or imu data frames are very smooth.
The native ubuntu setup is similar. Refer to below:

GitHub - jetsonhacks/installRealSenseSDK: Install the Intel RealSense SDK on the...

Before started realsense-viewer, re-pluged the camera’s usb cable. And ls /dev/video* found video0~video5.

[Raffaello]

The performance of the Realsense D435i may be more of an issue with the Jetson NX CPUs than anything else, or it could be an Intel issue outside our control.

Check the performance of your board using top/htop to measure its performance effectively.

As I wrote in the other topic, you can try these steps to free up more CPU and memory on your Jetson.

What is your setup? Judging from your photos, it seems like you’re running everything from your Jetson.

If it is true and possible, try to read the telemetry from another PC and avoid running anything that requires a display connected to the Jetson to save as much CPU and GPU work as possible.

To read the telemetry, you can use Foxglove

[zt_minto]

Hi Raffaello,
Looks like the realsense-viewer takes many resources.
When it was just turned on.

After turned on 1 minutes. The resources reduced.

[Raffaello]

If you are testing the Isaac ROS package, you don’t need the realsense-viewer active. Switching off this viewer releases other resources on your Jetson.

The realsense-viewer is a test to verify your camera is working on your device.

[zt_minto]

Hi Raffeallo, Understood. I just used it to verify it to work.
Thanks for the sustained attention. I’ll drop Xavier and move to Orin.