Realsense 435i on Jetson Nano with Isaac

I am trying to get the Isaac realsense examples working with my 435i (firmware downgraded to 5.11.15 per the Isaac documentation), but I’ve been unable to so far. I’ve got a Nano flashed with Jetpack4.3 and have installed all dependencies on both the desktop and the Nano. The realsense-viewer works fine, so I know the camera is functioning properly and is being detected by the Nano. However, when I run ./apps/samples/realsense_camera/realsense_camera it throws an error:

ERROR engine/alice/components/Codelet.cpp@229: Component 'camera/realsense' of type 'isaac::RealsenseCamera' reported FAILURE:

    No device connected, please connect a RealSense device
ERROR engine/alice/backend/event_manager.cpp@42: Stopping node 'camera' because it reached status 'FAILURE'

I’ve attached the log of this output as well. I get the same error running locally on my desktop, but that’s running through WSL so I was willing to write that off. Any suggestions would be greatly appreciated!

log.txt (7.4 KB)

Hello and thank you for checking out the ISAAC SDK.
Please note that only regular RealSense D435, not D435i, is compatible with ISAAC SDK 2020.1.
As of now RealSense D435i is not supported by ISAAC SDK.

is 435i support upcoming? what about l515 support?
Moreover, d435 neither seem to work with IsaaC

svo_realsense-pkg$ ./run apps/samples/stereo_vo/svo_realsense.py

Name: Intel RealSense D435, firmware version: 05.12.06.00, USB type: 3.2
2020-07-16 16:03:22.773 ERROR engine/alice/components/Codelet.cpp@229: Component 'camera/RealsenseCamera' of type 'isaac::RealsenseCamera' reported FAILURE:

    No device connected, please connect a RealSense device

2020-07-16 16:03:22.773 ERROR engine/alice/backend/event_manager.cpp@42: Stopping node 'camera' because it reached status 'FAILURE'

We have intel RealSense D435 working on isaac2020.1, but firmware needs to be set to 5.11.15 and you have a newer version firmware.

Earlier this year we tried very hard to get D435i working, and even installed various newer versions of RealSense SDK into isaac, but in the end it could not work even if you totally ignore the IMU. Basically something appears different and incompatible about the D435i USB 3 interface. That was on a Jetson Nano in the Kaya robot. As soon as we returned the D435i and used a RealSense D435 with firmware 5.11.15, everything worked.

2 Likes

how do you run it?
I tried two ways:
[after downgrade]
of the firmware
neither works


./apps/samples/realsense_camera/realsense_camera 
2020-07-16 20:49:57.826 INFO  engine/alice/tools/websight.cpp@166: Loading websight...
2020-07-16 20:49:57.827 WARN  engine/alice/backend/application_json_loader.cpp@174: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2020-07-16 20:49:57.829 INFO  engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2020-07-16 20:49:57.830 WARN  engine/alice/backend/backend.cpp@201: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-07-16 20:49:57.830 WARN  engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2020-07-16 20:49:57.830 INFO  engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-07-16 20:49:57.830 INFO  engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [6, 7], Workers = No
2020-07-16 20:49:57.830 INFO  engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2, 3, 4, 5], Workers = Yes
2020-07-16 20:49:57.877 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/realsense/librealsense_module.so': Now has 45 components total
2020-07-16 20:49:57.896 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/rgbd_processing/librgbd_processing_module.so': Now has 51 components total
2020-07-16 20:49:57.916 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/sight/libsight_module.so': Now has 54 components total
2020-07-16 20:49:57.945 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/viewers/libviewers_module.so': Now has 83 components total
2020-07-16 20:49:57.946 DEBUG engine/alice/application.cpp@348: Loaded 83 components: isaac::RealsenseCamera, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseFromFile, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToFile, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::PoseTreeRelink, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::rgbd_processing::DepthEdges, isaac::rgbd_processing::DepthImageFlattening, isaac::rgbd_processing::DepthImageToPointCloud, isaac::rgbd_processing::DepthNormals, isaac::rgbd_processing::DepthPoints, isaac::rgbd_processing::FreespaceFromDepth, isaac::sight::AliceSight, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, 
2020-07-16 20:49:57.952 WARN  engine/alice/application.cpp@164: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2020-07-16 20:49:57.952 INFO  engine/alice/application.cpp@255: Starting application 'realsense_camera' (instance UUID: '6fea944a-c7c7-11ea-8da3-b19651c7e999') ...
2020-07-16 20:49:57.952 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-16 20:49:57.952 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-16 20:49:57.953 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-16 20:49:57.953 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-16 20:49:57.953 INFO  engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-07-16 20:49:57.957 INFO  packages/sight/WebsightServer.cpp@216: Sight webserver is loaded
2020-07-16 20:49:57.957 INFO  packages/sight/WebsightServer.cpp@217: Please open Chrome Browser and navigate to http://<ip address>:3000
2020-07-16 20:49:57.958 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2020-07-16 20:49:57.958 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 20:49:57.963 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2020-07-16 20:49:57.963 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 20:49:57.963 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 20:49:58.170 ERROR engine/alice/components/Codelet.cpp@229: Component 'camera/realsense' of type 'isaac::RealsenseCamera' reported FAILURE:

    No device connected, please connect a RealSense device

2020-07-16 20:49:58.171 ERROR engine/alice/backend/event_manager.cpp@42: Stopping node 'camera' because it reached status 'FAILURE'
2020-07-16 20:49:58.171 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet 'camera/realsense' was not added to scheduler because no tick method is specified.
2020-07-16 20:50:07.952 INFO  engine/alice/backend/allocator_backend.cpp@57: Optimized memory CPU allocator.
2020-07-16 20:50:07.952 INFO  engine/alice/backend/allocator_backend.cpp@66: Optimized memory CUDA allocator.
 ./run ./apps/samples/stereo_vo/svo_realsense.py 
Running your Python script
Traceback (most recent call last):
  File "./apps/samples/stereo_vo/svo_realsense.py", line 10, in <module>
    from engine.pyalice import Application, Node
  File "/home/agx/deploy/opal-2/svo_realsense-pkg/engine/pyalice/__init__.py", line 15, in <module>
    from .Application import Application
  File "/home/agx/deploy/opal-2/svo_realsense-pkg/engine/pyalice/Application.py", line 25, in <module>
    import quaternion
  File "/home/agx/.local/lib/python3.6/site-packages/quaternion/__init__.py", line 13, in <module>
    from .quaternion_time_series import slerp, squad, integrate_angular_velocity, minimal_rotation, angular_velocity
  File "/home/agx/.local/lib/python3.6/site-packages/quaternion/quaternion_time_series.py", line 8, in <module>
    from quaternion.numba_wrapper import njit
  File "/home/agx/.local/lib/python3.6/site-packages/quaternion/numba_wrapper.py", line 11, in <module>
    from numba import njit, jit, vectorize, int64, float64, complex128
  File "/home/agx/.local/lib/python3.6/site-packages/numba/__init__.py", line 196, in <module>
    import numba.typed
  File "/home/agx/.local/lib/python3.6/site-packages/numba/typed/__init__.py", line 3, in <module>
    from .typeddict import Dict
  File "/home/agx/.local/lib/python3.6/site-packages/numba/typed/typeddict.py", line 19, in <module>
    @njit
  File "/home/agx/.local/lib/python3.6/site-packages/numba/decorators.py", line 238, in njit
    return jit(*args, **kws)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/decorators.py", line 175, in jit
    return wrapper(pyfunc)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/decorators.py", line 191, in wrapper
    **dispatcher_args)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/dispatcher.py", line 650, in __init__
    self.targetctx = self.targetdescr.target_context
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/registry.py", line 50, in target_context
    return self._toplevel_target_context
  File "/home/agx/.local/lib/python3.6/site-packages/numba/utils.py", line 390, in __get__
    res = instance.__dict__[self.name] = self.func(instance)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/registry.py", line 34, in _toplevel_target_context
    return cpu.CPUContext(self.typing_context)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/base.py", line 260, in __init__
    self.init()
  File "/home/agx/.local/lib/python3.6/site-packages/numba/compiler_lock.py", line 32, in _acquire_compile_lock
    return func(*args, **kwargs)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/cpu.py", line 51, in init
    self._internal_codegen = codegen.JITCPUCodegen("numba.exec")
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/codegen.py", line 628, in __init__
    self._init(self._llvm_module)
  File "/home/agx/.local/lib/python3.6/site-packages/numba/targets/codegen.py", line 637, in _init
    tm = target.create_target_machine(**tm_options)
TypeError: create_target_machine() got an unexpected keyword argument 'jitdebug'

I recentrly installed numba with pip3 install numba==0.47 as per the thread Are there steps to install missed numba?

upd. using jetpack 4.3
upd with uninstalled numba

 ./run ./apps/samples/stereo_vo/svo_realsense.py 
Running your Python script
/home/agx/.local/lib/python3.6/site-packages/quaternion/numba_wrapper.py:21: UserWarning: 

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly.  You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

  warnings.warn(warning_text)
2020-07-16 21:00:44.937 INFO  engine/alice/tools/websight.cpp@166: Loading websight...
2020-07-16 21:00:44.938 WARN  engine/alice/backend/application_json_loader.cpp@174: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the system's abilities if possible.
2020-07-16 21:00:44.940 INFO  engine/alice/backend/redis_backend.cpp@40: Successfully connected to Redis server.

2020-07-16 21:00:44.940 WARN  engine/alice/backend/backend.cpp@201: This application does not have an execution group configuration. One will be autogenerated to the best of the systems abilities if possible.
2020-07-16 21:00:44.941 WARN  engine/gems/scheduler/scheduler.cpp@337: No default execution groups specified. Attempting to create scheduler configuration for 8 remaining cores. This may be non optimal for the system and application.
2020-07-16 21:00:44.941 INFO  engine/gems/scheduler/scheduler.cpp@290: Scheduler execution groups are:
2020-07-16 21:00:44.941 INFO  engine/gems/scheduler/scheduler.cpp@299: __BlockerGroup__: Cores = [6, 7], Workers = No
2020-07-16 21:00:44.941 INFO  engine/gems/scheduler/scheduler.cpp@299: __WorkerGroup__: Cores = [0, 1, 2, 3, 4, 5], Workers = Yes
2020-07-16 21:00:44.957 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/perception/libstereo_visual_odometry_module.so': Now has 46 components total
2020-07-16 21:00:44.999 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/realsense/librealsense_module.so': Now has 47 components total
2020-07-16 21:00:45.017 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/sight/libsight_module.so': Now has 49 components total
2020-07-16 21:00:45.036 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/utils/libutils_module.so': Now has 66 components total
2020-07-16 21:00:45.066 INFO  engine/alice/backend/modules.cpp@226: Loaded module 'packages/viewers/libviewers_module.so': Now has 95 components total
2020-07-16 21:00:45.067 DEBUG engine/alice/application.cpp@348: Loaded 95 components: isaac::RealsenseCamera, isaac::StereoVisualOdometry, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseFromFile, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToFile, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::PoseTreeRelink, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::sight::AliceSight, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::utils::ColorCameraProtoSplitter, isaac::utils::CompositeToDifferentialTrajectoryConverter, isaac::utils::DetectionUnprojection, isaac::utils::Detections3Filter, isaac::utils::DetectionsToPoseTree, isaac::utils::DifferentialTrajectoryToPlanConverter, isaac::utils::FlatscanToPointCloud, isaac::utils::JoystickConfirmation, isaac::utils::Plan2Converter, isaac::utils::Pose2GaussianDistributionEstimation, isaac::utils::PoseEvaluation, isaac::utils::PoseMonitor, isaac::utils::PoseTreeFeed, isaac::utils::RigidBodiesToDetections, isaac::utils::SegmentationCameraProtoSplitter, isaac::utils::SendTextMessages, isaac::utils::WaitUntilDetection, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, 
2020-07-16 21:00:45.069 WARN  engine/alice/application.cpp@164: The function Application::findComponentByName is deprecated. Please use `getNodeComponentOrNull` instead. Note that the new method requires a node name instead of a component name. (argument: 'websight/isaac.sight.AliceSight')
2020-07-16 21:00:45.082 DEBUG engine/alice/application.cpp@348: Loaded 95 components: isaac::RealsenseCamera, isaac::StereoVisualOdometry, isaac::alice::BufferAllocatorReport, isaac::alice::ChannelMonitor, isaac::alice::CheckJetsonPerformanceModel, isaac::alice::CheckOperatingSystem, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::ConfigLoader, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::JsonToProto, isaac::alice::LifecycleReport, isaac::alice::MessageLedger, isaac::alice::MessagePassingReport, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::Pose2Comparer, isaac::alice::PoseFromFile, isaac::alice::PoseInitializer, isaac::alice::PoseMessageInjector, isaac::alice::PoseToFile, isaac::alice::PoseToMessage, isaac::alice::PoseTree, isaac::alice::PoseTreeJsonBridge, isaac::alice::PoseTreeRelink, isaac::alice::ProtoToJson, isaac::alice::PyCodelet, isaac::alice::Random, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::Subgraph, isaac::alice::Subprocess, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::TimeOffset, isaac::alice::TimeSynchronizer, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::map::Map, isaac::map::ObstacleAtlas, isaac::map::OccupancyGridMapLayer, isaac::map::PolygonMapLayer, isaac::map::WaypointMapLayer, isaac::navigation::DistanceMap, isaac::navigation::NavigationMap, isaac::navigation::RangeScanModelClassic, isaac::navigation::RangeScanModelFlatloc, isaac::sight::AliceSight, isaac::sight::SightWidget, isaac::sight::WebsightServer, isaac::utils::ColorCameraProtoSplitter, isaac::utils::CompositeToDifferentialTrajectoryConverter, isaac::utils::DetectionUnprojection, isaac::utils::Detections3Filter, isaac::utils::DetectionsToPoseTree, isaac::utils::DifferentialTrajectoryToPlanConverter, isaac::utils::FlatscanToPointCloud, isaac::utils::JoystickConfirmation, isaac::utils::Plan2Converter, isaac::utils::Pose2GaussianDistributionEstimation, isaac::utils::PoseEvaluation, isaac::utils::PoseMonitor, isaac::utils::PoseTreeFeed, isaac::utils::RigidBodiesToDetections, isaac::utils::SegmentationCameraProtoSplitter, isaac::utils::SendTextMessages, isaac::utils::WaitUntilDetection, isaac::viewers::BinaryMapViewer, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::Detections3Viewer, isaac::viewers::DetectionsViewer, isaac::viewers::FiducialsViewer, isaac::viewers::FlatscanViewer, isaac::viewers::GoalViewer, isaac::viewers::ImageKeypointViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::ObjectViewer, isaac::viewers::OccupancyMapViewer, isaac::viewers::PointCloudViewer, isaac::viewers::PoseTrailViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::SkeletonViewer, isaac::viewers::TensorViewer, isaac::viewers::TrajectoryListViewer, 
2020-07-16 21:00:45.082 INFO  engine/alice/application.cpp@255: Starting application 'svo_realsense' (instance UUID: 'f19fd1e8-c7c8-11ea-bb0e-61a4664796bb') ...
2020-07-16 21:00:45.082 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-16 21:00:45.082 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-16 21:00:45.083 DEBUG engine/gems/scheduler/execution_groups.cpp@476: Launching 0 pre-start job(s)
2020-07-16 21:00:45.083 DEBUG engine/gems/scheduler/execution_groups.cpp@485: Replaying 0 pre-start event(s)
2020-07-16 21:00:45.083 INFO  engine/alice/backend/asio_backend.cpp@33: Starting ASIO service
2020-07-16 21:00:45.086 INFO  packages/sight/WebsightServer.cpp@216: Sight webserver is loaded
2020-07-16 21:00:45.086 INFO  packages/sight/WebsightServer.cpp@217: Please open Chrome Browser and navigate to http://<ip address>:3000
2020-07-16 21:00:45.087 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet 'websight/isaac.sight.AliceSight' was not added to scheduler because no tick method is specified.
2020-07-16 21:00:45.087 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 21:00:45.088 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet '_check_operating_system/isaac.alice.CheckOperatingSystem' was not added to scheduler because no tick method is specified.
2020-07-16 21:00:45.088 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 21:00:45.088 WARN  engine/alice/components/Codelet.cpp@53: Function deprecated. Set tick_period to the desired tick paramater
2020-07-16 21:00:45.291 ERROR engine/alice/components/Codelet.cpp@229: Component 'camera/RealsenseCamera' of type 'isaac::RealsenseCamera' reported FAILURE:

    No device connected, please connect a RealSense device

2020-07-16 21:00:45.291 ERROR engine/alice/backend/event_manager.cpp@42: Stopping node 'camera' because it reached status 'FAILURE'
2020-07-16 21:00:45.292 WARN  engine/alice/backend/codelet_canister.cpp@225: Codelet 'camera/RealsenseCamera' was not added to scheduler because no tick method is specified.
2020-07-16 21:00:55.082 INFO  engine/alice/backend/allocator_backend.cpp@57: Optimized memory CPU allocator.
2020-07-16 21:00:55.082 INFO  engine/alice/backend/allocator_backend.cpp@66: Optimized memory CUDA allocator.

upd: my bad
I used version of the firmware different than the specified by yo
trying again

./apps/samples/realsense_camera/realsense_camera 

works
thanks
the second scenario works only with numba removed

./run ./apps/samples/stereo_vo/svo_realsense.py

glad we can compare notes. Yes 5.11.15 firmware works for us and happy to see it works for you too

Hello @Andrey1984 - I’m glad that you were able to successfully use Isaac RealSense integration.
Would you kindly share with us which exact version of RealSense firmware worked for you with Isaac, JetPack 4.3 and RealSense 435i camera?
Thank you.

@MikhailFilimonov
maybe you could share some insights regarding:
what is the expected date of availability of Jetpack 4.4 support in ISaaC?
will newer that released year ago versions of firmware for ibrealsense be supported? fro d453? d435i? for both ?neither of the two?
what is anticipated date of support of l515? will t265 be supported?
Could you provide steps to explore svo with isaac to a larger extent?

upd no Realsense firmware worked for me with Isaac, Jetpack 4.3 & d435i camera;
for me worked d435 camera, isaac2020.1, with the firmware 5.11.15

This is expected behavior as Isaac 2020.1 supports integration with a regular RealSense D435, not D435i with built-in IMU module.
We’re considering our options in regards to D435i integration for a new release.

Sorry, I’m not sure what do you mean by that - this seems to be a very broad question that belongs to a separate thread.

I’m having the same issue not being able to run the 435i on Jetpack 4.4

From what I can tell in the docs, this is a supported configuration with isaac 2020.1NX

Just like OP, realsense viewer works fine and all samples run on x86 just fine.

Any tips to get things working?

I also had a hard time using the jetson dependencies script and had to manually install things like llvm and tbb.

Hello,

Instead of opening a new thread I will just ask here.

Is the d435i supported in isaac 2021.1?

No, we were not able to add support for Realsense D435i in the latest Isaac SDK 2021.1 and it remains in our backlog for a future release.