hello cuong.pham,
please access Jetson Linux R32.7.2 Release Page | NVIDIA Developer to download [L4T Driver Package (BSP) Sources],
you may check below for reference camera drivers for Jetson TX2 series,
for example, $public_sources/Linux_for_Tegra/source/public/kernel_src/hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-modules/
as you can see, Raspberry Pi v2, IMX219 doesn’t support with TX2, you’ll need to have camera driver implementation.
you’ll also need to check Jetson TX2 Series Camera Module Hardware Design Guide for your carrier board design.