No VSLAM output when trying the issac ros (v2.1) vslam example with a realsense D435I on jetson Xavier NX

[22311a1901]

jetson xavier nx running jetpack 5.1.2,
realsense D435i, firmware is updated
usb cable is 3.2

installed Issac ROS v2.1 and the respective 2.1v release files onto the Xavier, initially we faced a issues with the container failing to build due to lib real sense mismatch , which i put as a separate post here Cant build isaac ros image to use vslam

after trying to get it work, it started working when i ignored this step on the real sense setup

@22311a1901

cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
touch .isaac_ros_common-config && \
echo CONFIG_IMAGE_KEY=ros2_humble.realsense > .isaac_ros_common-config

after successfully launching the container, we again faced problems building the VSLAM packages with colcon build, we even reflashed the xavier and still there were problems

anyways we were able to launch the vslam example with the realsense camera, yet we are not receiving any vslam output

these are the topics that are being displayed
topiclist.txt (1.4 KB)

and when we tried to check with running ros2 topic hz /camera/infra1/image_rect_raw --window 20
and ros2 topic hz /camera/imu --window 20 there was no output from the terminal

then i followed the troubleshooting guide in the documentation, I can see any IR images by Realsense-viewer if clicked IR camera. the trouble shooting solution section contained instructions to download dkms , but the download link is not for jetson, arm based systems but for x86 systems

i have seen another person in the forum who faced the exact same issue i am currently facing :
this

unfortunately it seems there wasn’t a solution reached yet, i hope you can look into this

here i have provided the logs when i launched the isaac ros vslam realsense, rviz visualization launch and the topic list, along with images

realsense.txt (4.1 KB)
rviz.txt (768 Bytes)

[Raffaello]

Hi @22311a1901

Thank you for your post, but we cannot replicate this setup at this time. We are supporting the latest Isaac ROS 3.2 version.

By the way, looking at your type of errors, it seems like the nodes are not communicating well with each other. Check with rqt_graph and with ros2 node info to see if everything works well.

Best,
Raffaello

[22311a1901]

hey Raffaello, i have moved to using issac ros on my x86 system with rtx4090, yet we still face the same issue, i have installed everything in accordance to the documentation including the required versions linrealsense, realsense camera firmware (D435i), and realsense Ros, yet we face the exact issue as we faced in Xavier