RealSenseD400 Camera can not work on Jetson Xavier NX

Just copy these two files /lib/modules/4.9.140-tegra/kernel/drivers/gpu/nvgpu/nvgpu.ko and /boot/Image from r32.3.1 to r32.4

Are the two files the same in various Jetson platform? I just need to copy them in nano with jp4.3.

It’s different with Nano’s Image and ko files.

so, where can I get the r32.3 version files. does nx have jp4.3?

You can have J4.3 Xavier Image for NX

I can run the realsense_viewer on NX with J4.4 DP not sure if the firmware update help it or not.

nvidia@nvidia-desktop:~$ rs-fw-update -l

connected devices:

  1. Name: Intel RealSense D435, serial number: 825312071783, update serial number: 824613020664, firmware version: 05.12.05.00, USB type: 3.2
1 Like

thanks very much! the latest firmware works normally now.

@ShaneCCC,
Could you confirm the camera to work from within docker container with ROS1/ROS2, please? With both? With neither of the two?
ROS2:

xhost +
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera'

ROS1:

xhost +
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch'

source Docker files are in the linked thread Intel realsense d435i on NX devkit

Got below error.

root@nvidia-desktop:/home/nvidia# xhost +
access control disabled, clients can connect from any host
root@nvidia-desktop:/home/nvidia# docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE librealsense1ros /bin/bash -c ‘. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch’
Unable to find image ‘librealsense1ros:latest’ locally
docker: Error response from daemon: pull access denied for librealsense1ros, repository does not exist or may require ‘docker login’.
See ‘docker run --help’.

@ShaneCCC
Thank you for your feedback!
It allowed to merge two commands [ pull and run] into single command

docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c ‘. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch’ 

will the updated command work?

Got below error.

nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c ‘. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch’ [sudo] password for nvidia: Sorry, try again. [sudo] password for nvidia: /opt/ros/melodic/setup.bash: ’\342\200\230.’: command not found
failed to resize tty, using default size
-bash: devel/setup.bash: No such file or directory
-bash: roslaunch: command not found

Thank you for your prompt response;
the error was due to the symbol ’ that reflected as ‘

The correct command is:

 docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch'

for ROS2:

docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera'

Could you try these two guys above once again, please?
The command below allows to run docker without sudo. Requires restart of terminal though.

sudo usermod -aG docker $USER

nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/librealsense1ros /bin/bash -c ‘. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch’
… logging to /root/.ros/log/4cfa2990-a95a-11ea-a0a4-48b02d0350f4/roslaunch-nvidia-desktop-54.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nvidia-desktop:41187/

SUMMARY

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 250
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti…
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -2.0
  • /camera/realsense2_camera/color_fps: 30
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti…
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti…
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: True
  • /camera/realsense2_camera/enable_color: True
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: True
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/filters:
  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f…
  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o…
  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f…
  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o…
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 480
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op…
  • /camera/realsense2_camera/fisheye_width: 640
  • /camera/realsense2_camera/gyro_fps: 400
  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic…
  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica…
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt…
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt…
  • /camera/realsense2_camera/infra_fps: 30
  • /camera/realsense2_camera/infra_height: 480
  • /camera/realsense2_camera/infra_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path:
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame
  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic…
  • /camera/realsense2_camera/publish_odom_tf: True
  • /camera/realsense2_camera/publish_tf: True
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no:
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: odom_in
  • /camera/realsense2_camera/unite_imu_method:
  • /camera/realsense2_camera/usb_port_id:
  • /rosdistro: melodic
  • /rosversion: 1.14.5

NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [64]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4cfa2990-a95a-11ea-a0a4-48b02d0350f4
process[rosout-1]: started with pid [75]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [82]
[ INFO] [1591601594.250968059]: Initializing nodelet with 2 worker threads.
process[camera/realsense2_camera-3]: started with pid [83]
[ INFO] [1591601595.148787481]: RealSense ROS v2.2.13
[ INFO] [1591601595.148919226]: Running with LibRealSense v2.32.1
[ INFO] [1591601595.200532185]:
[ INFO] [1591601595.678417039]: Device with serial number 825312071783 was found.

[ INFO] [1591601595.678666705]: Device with physical ID 2-3.2-3 was found.
[ INFO] [1591601595.678816562]: Device with name Intel RealSense D435 was found.
[ INFO] [1591601595.681712039]: Device with port number 2-3.2 was found.
[ INFO] [1591601595.696257619]: getParameters…
[ INFO] [1591601595.837237192]: setupDevice…
[ INFO] [1591601595.839596249]: JSON file is not provided
[ INFO] [1591601595.841406855]: ROS Node Namespace: camera
[ INFO] [1591601595.843275669]: Device Name: Intel RealSense D435
[ INFO] [1591601595.844972865]: Device Serial No: 825312071783
[ INFO] [1591601595.846097162]: Device physical port: 2-3.2-3
[ INFO] [1591601595.847552788]: Device FW version: 05.12.05.00
[ INFO] [1591601595.848972959]: Device Product ID: 0x0B07
[ INFO] [1591601595.851522866]: Enable PointCloud: Off
[ INFO] [1591601595.852831580]: Align Depth: Off
[ INFO] [1591601595.854155141]: Sync Mode: Off
[ INFO] [1591601595.855578896]: Device Sensors:
[ INFO] [1591601595.857146844]: Stereo Module was found.
[ INFO] [1591601595.858564518]: RGB Camera was found.
[ INFO] [1591601595.860049265]: (Fisheye, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.861430139]: (Fisheye, 1) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.863235017]: (Fisheye, 2) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.864654867]: (Gyro, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.866020733]: (Accel, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.867431720]: (Pose, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1591601595.868868466]: num_filters: 0
[ INFO] [1591601595.870311741]: Setting Dynamic reconfig parameters.
[ INFO] [1591601601.918476182]: Done Setting Dynamic reconfig parameters.
[ INFO] [1591601601.981960461]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1591601601.982609874]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1591601601.983321367]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1591601602.075757700]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1591601602.075952901]: setupPublishers…
[ INFO] [1591601602.085389003]: Expected frequency for depth = 30.00000
[ INFO] [1591601602.186371704]: Expected frequency for infra1 = 30.00000
[ INFO] [1591601602.248021761]: Expected frequency for infra2 = 30.00000
[ INFO] [1591601602.309479272]: Expected frequency for color = 30.00000
[ INFO] [1591601602.424839167]: setupStreams…
[ INFO] [1591601602.553719738]: insert Depth to Stereo Module
[ INFO] [1591601602.556525359]: insert Color to RGB Camera
[ INFO] [1591601602.558680159]: insert Infrared to Stereo Module
[ INFO] [1591601602.560987440]: insert Infrared to Stereo Module
[ INFO] [1591601602.859537621]: SELECTED BASE:Depth, 0
[ INFO] [1591601602.923007659]: RealSense Node Is Up!
08/06 00:33:22,965 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:22,974 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:22,994 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,026 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,035 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:23,059 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,081 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,092 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,112 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,119 WARNING [547130171776] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
08/06 00:33:23,125 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,144 ERROR [546903667072] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
08/06 00:33:23,158 ERROR [546442297728] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!

nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera’
[sudo] password for nvidia:
[INFO] [RealSenseCameraNode]: RealSense ROS v2. 0.1
[INFO] [RealSenseCameraNode]: Running with LibRealSense v2.16.5
[INFO] [RealSenseCameraNode]: getParameters…
[INFO] [RealSenseCameraNode]: setupDevice…
[INFO] [RealSenseCameraNode]: Device Name: Intel RealSense D435
[INFO] [RealSenseCameraNode]: Device Serial No: 825312071783
[INFO] [RealSenseCameraNode]: Device FW version: 05.12.05.00
[INFO] [RealSenseCameraNode]: Device Product ID: 0B07
[INFO] [RealSenseCameraNode]: Sync Mode: On
[INFO] [RealSenseCameraNode]: Device Sensors:
[INFO] [RealSenseCameraNode]: Stereo Module was found.
[INFO] [RealSenseCameraNode]: RGB Camera was found.
[INFO] [RealSenseCameraNode]: Fisheye sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: Gyro sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: Accel sensor isn’t supported by current device! – Skipping…
[INFO] [RealSenseCameraNode]: setupPublishers…
[INFO] [RealSenseCameraNode]: setupStreams…
[INFO] [RealSenseCameraNode]: depth stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: infra2 stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: color stream is enabled - width: 640, height: 480, fps: 30
[INFO] [RealSenseCameraNode]: RealSense Node Is Up!

08/06 00:38:32,775 ERROR [547109052192] (source.cpp:127) Exception was thrown during user callback!

^CInterrupt Signal is received! Terminate RealSense Node…
^Cnvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket -ap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/ros2_realsense /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera’
[INFO] [RealSenseCameraNode]: RealSense ROS v2. 0.1
[INFO] [RealSenseCameraNode]: Running with LibRealSense v2.16.5
[INFO] [RealSenseCameraNode]: getParameters…
[INFO] [RealSenseCameraNode]: setupDevice…
[ERROR] [RealSenseCameraNode]: No RealSense devices were found! Terminate RealSense Node…
/bin/bash: line 1: 1006 Segmentation fault (core dumped) realsense_ros2_camera

it seems that on first launch ROS2 librealsense node starts , but after the termination the camera device becomes unavailable to the system.
Moreover, it seems that ROS1 node has some errors with the camera that ROS2 node doesn’t have.
Thank you for testing!

could you test once again, please?

xhost +
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera'

the latter one might display rviz2 visualization

Got below result.

nvidia@nvidia-desktop:~ xhost + xhost: unable to open display "" nvidia@nvidia-desktop:~ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera’
[sudo] password for nvidia:
Unable to find image ‘iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest’ locally
docker: Error response from daemon: pull access denied for iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense, repository does not exist or may require ‘docker login’.
See ‘docker run --help’.

could you try once again, please?

xhost +
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera'

nvidia@nvidia-desktop:~ xhost + xhost: unable to open display "" nvidia@nvidia-desktop:~ sudo docker run -it --rm --net=host -e DISPLAY=DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera' [sudo] password for nvidia: Unable to find image 'iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest' locally docker: Error response from daemon: pull access denied for iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense, repository does not exist or may require 'docker login'. See 'docker run --help'. nvidia@nvidia-desktop:~ xhost +
xhost: unable to open display “”
nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera’
Unable to find image ‘iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest’ locally

latest: Pulling from idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense
3b5e2c02f523: Already exists
b9448035bb0a: Already exists
ec9ea6732d09: Already exists
515b0d7ffbf7: Already exists
7663c88dd173: Already exists
5dd4bd16e931: Already exists
5231bd433c70: Already exists
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Digest: sha256:ca7a8e3b2dae3580590a763f4e0b2b7df46648692262f02761055b10402324ae
Status: Downloaded newer image for iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-root’
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display.

it seems that you are running the execution remotely;
for remote executions there is an issue with forwarding to display.
I shall try to ask someone who has local camera access with local display and keyboard perhaps; As it is not obvious how to get remote X forwarding for this use case.

1 Like

Running on local console.

nvidia@nvidia-desktop:~$ sudo docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE iad.ocir.io/idso6d7wodhe/jetson_nx/rviz2_ros2_librealsense:latest /bin/bash -c ‘. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; ros2 run rviz2 rviz2 -d realsense_ros2_camera/rviz/ros2.rviz && realsense_ros2_camera’
[sudo] password for nvidia:
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-root’
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
[ERROR] [rviz2]: Failed to create an OpenGL context. BadValue (integer parameter out of range for operation)