RealSense D435i Not Working With Jetson Orin Nano 8GB Jetpack 6.0

Autonomous Machines Robotics - Isaac Isaac ROS
1

Hey guys! Not sure if this is the right place to be asking, but I have been running into some issues getting my Orin Nano working with a RealSense D435i. I suspect my issue is more RealSense/Jetpack related and less Isaac ROS related, but I have found the most guidance from the Isaac ROS docs thus far. I have also been tracking this issue on the librealsense repository, but wanted to reach out on this forum in case anyone here has already figured this out.

Just as a sanity check to make sure my camera was okay, I installed librealsense 2.55.1 on my workstation at home and realsense-viewer worked like a charm. The D435i was detected and I was able to view the RGB camera output, depth map, and IMU data.

Having just received my Jetson, I installed Jetpack 6.0 and headed over to the Isaac ROS RealSense Setup guide, and then eventually to the release page for librealsense 2.55.1. I saw in their release notes that they had added support for Jetpack 6.0, so I figured installing via the debs might be doable this time around. However, I thought I remembered seeing something in the 3.0.1 release notes about having to build the driver from source, so I went to dig a little deeper on their Jetson-Installation page.

This is where I got a bit confused, though. On that page, they have the following disclaimer:

For Jetson Orin™ with JetPack 6.0 you will need to follow build for MIPI driver as NVIDIA released Kernel 5.15 default configuration with disabled HID: Intel® RealSense™ camera driver for GMSL* interface

This didn’t seem very familiar to me, nor did it look like it was meant for the D435i based on the contents of that MIPI driver repo.

I guess my question, therefore, is: Do you guys currently have a working process for getting a RealSense D435i set up with a Jetson Orin Nano 8GB running Jetpack 6.0? I’ve seen in a few other posts you guys mention just building from source, but I haven’t gotten this to work yet.

I have also tried building the GMSL version to no avail (mentioned an incorrect compiler version or something), and I also tried that Jetsonhacks script (which I think grabbed 2.55.1 and tried to build that from source)–but no luck so far getting the RealSense to even show up in realsense-viewer. Any ideas/suggestions/help would be super helpful! Thanks!

2

Hi @nlitz88

Thank you for your detailed post. We are working to fix the issue with the Realsense camera and make a fix soon.
I keep you posted when it will be released.

The issue with the realsense camera is currently related to a new ROS 2 package that exposes new types of topics and services, which do not match with the demo.

4

Hi @nlitz88

We’ve released a fix for the Realsense.
Simply run sudo apt-get update and reinstall the package to make it work.

Let me know if it’s fixed now.

Raffaello

5

Hi @Raffaello

You mentioned of performing apt update and reinstall the package will make it work. Which package(s) are needed to be reinstall?

Best,
Samuel

6

Hey @Raffaello , thanks for getting back.

I actually somehow got my camera to be detected in RealSense viewer, but I’m not sure it had the new Debs that you are talking about.

I just set up my dev container with librealsense preinstalled yesterday evening following these steps. Prior to that, I was not using the Isaac ROS Dev Container, but instead just trying to install librealsense on the host OS for some kind of baseline. Having just set up the dev container with librealsense preinstalled, librealsense opens up and I can preview the depth and RGB views just fine. So, I supposed I should have just gone straight to your docker image first rather than trying to build things myself.

Regardless, now that I do have RealSense viewer opened, while the depth and RGB views appear to be fine, everything freezes up and I get the error message “No Frames Received!” when I try to enable the IMU. If I remember correctly, this is one of the issues that pointed people to installing that MIPI version of their driver, or something to that effect.

The above issue also seemed to be happening from within the ROS node provided by realsense-ros (I.e., launching RGB, depth, and accel+gyro). I ended up resolving this issue by downgrading my camera’s driver version to 5.13.0.50 via RealSense viewer on my Windows laptop (couldn’t get the command line tool rs-fw-update to work on the Jetson for whatever reason). I provide a slightly more thorough explanation on this librealsense issue.

@HappySamuel Despite my setup working now, I was also wondering what package we should update. @Raffaello could you clarify which package received the update that is needed?

7

Hi @nlitz88

Check with you, do you mean your D435i camera currently with 5.13.0.50 driver version can work together on Jetpack 6.0 ? Which librealsense version are you currently using?

Best,
Samuel

8

@HappySamuel Correct!

To be clear, however, I was NOT able to get this working by building and installing librealsense 2.55.1 on my host Ubuntu install–I have only had success with the Docker image for some reason.

9

I have the same issue when using D435i the docker thing
Isaac ROS RealSense Setup — isaac_ros_docs documentation
describe in this link i tried and some how this is working but the librealsense v.2.55.1 when i installed this and try to run(rs-enumerate-devices) this is giving no device connected but i connect the camera also after running
realsense-viewer this in the terminal it’s not showing any camera

10

I am working on it but and found and interesting thing I don’t know it’s right answer or not but i reach somewhere.
I go the librealsense folder and run this:
/librealsense$ ./scripts/patch-realsense-ubuntu-L4T.sh:
Result:

The script patches and applies in-tree kernel modules required for Librealsense SDK

Remove all RealSense cameras attached. Hit any key when ready

Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
build-essential is already the newest version (12.9ubuntu3).
git is already the newest version (1:2.34.1-1ubuntu1.11).
libssl-dev is already the newest version (3.0.2-0ubuntu1.18).
0 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.
Jetson Board (proc/device-tree/model): NVIDIA Jetson Orin NX Engineering Reference Developer Kit
Jetson L4T version: 36.4
Unsupported JetPack revision 36.4 aborting script

I guess it’s the jetpack issue and need to be solved.

11

Hi @musmannoor2004

Thank you for your post and all the details.
Please check our requirements. Isaac ROS 3.1 works with Jetpack 6.0

https://nvidia-isaac-ros.github.io/getting_started/index.html#system-requirements

Best,
Raffaello

12

I’m having the same issue. Any thoughts?

13

Just a quick observation (which I think @Raffaello may have been alluding to / pointing out):

Jetson L4T version: 36.4

@musmannoor2004 Correct me if I’m wrong, but it appears like you running Jetpack 6.1 (Which uses Jetson Linux 36.4.x), not Jetpack 6.0 (which uses Jetson Linux 36.3.0).

I have not looked into this at all, but maybe that script just bails when it sees that you’re on a version of Jetson Linux not fully supported by Isaac ROS just yet. As @Raffaello mentions, Isaac ROS 3.1 only supports up to Jetpack 6.0 (Jetson linux 36.3.0).

I can also confirm that I recently had to reinstall Jetpack 6.0 (Jetson linux 36.3.0) on my Orin Nano and was able to follow the same steps I talk about above and got the Realsense working once again.

See the Jetpack 6.0 release notes and the Jetpack 6.1 release notes for more details on which version of Jetson-Linux ships with each Jetpack version.

1 Like
14

Can you successfully open the camera with pyrealsense2?