Realsense D455 IMU not working in JP6

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Setup:

  • NVIDIA Jetson AGX Orin Developer Kit - Jetpack 6.0 [L4T 36.3.0]
  • RealSense firmware version 5.13.0.50
  • librealsense version 2.55.1
  • RealSense camera ROS driver version 4.51.1

Steps:

  1. Cold boot
  2. Log into IsaacROS container
  3. Build and Source workspace
  4. ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py

Expected:
Realsense node starts up with no “resource unavailable” errors
Depth camera seems to be dead / not working / not showing anything in RVIz.

Actual:
[component_container_mt-2] 14/08 04:11:13,297 WARNING [281470284130528] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

Meanwhile, in realsense viewer, any attempt to enable Stereo Module is met with
Invalid Value in rs2_open_multiple(sensor:0xffff98032c20,
profiles:0xffff982a96a0, count:1):
get_xu(ctrl=1) failed! Last Error: Resource temporarily unavailable.

Note: the RGB and depth views are functioning correctly. But, the moment I enable “Motion Control”, things go haywire.

2

Hi @augustmille

Before going ahead, I would like to be sure you have installed and configured the driver: Isaac ROS RealSense Setup — isaac_ros_docs documentation

Specifically, ensure that you are using a Docker container that is set up for a RealSense device.

If everything is set up correctly, the error may be related to the USB cable. Have you tried if the device works without Isaac ROS?

best,
Raffaello

3

Yes. I used exact instructions from Isaac ROS RealSense Setup — isaac_ros_docs documentation.
In fact, it is because of the instructions at the top of that page that I have opted to not update my Realsense firmware.
Also, I am using the Isaac ROS docker container (I can share the exact docker image if needed).
I am also using the cable that comes with the Realsense.
I have not tried this without Isaac Ros. I’ll try it shortly.

Note: The RGB and Depth sensing works.

4

You can fix it by following this guide:

Additional info here:

@Raffaello Are you going to add HID support in the next JetPack releases so we don’t have to apply kernel patch to make the IMU work?

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