Unstable frequency of ROS topic sending on JETSON Xavier NX

We encountered an issue while using the NVIDIA JETSON Xavier NX. We used a ROS program feature package to read sensor data through a serial port and send it. The sensor uses RS422-UART to connect to the computer, with a baud rate of 115200 and a frequency of 400Hz. We can run and send ROS topics normally on both INTEL laptops and virtual machines using UBUNTU system, but the same program is not running well on NVIDIA JETSON. The frequency of ROS topic sending is unstable, around 330Hz, and gradually decreases over time.
Thanke you.

Hi Shantong,

Are you using the devkit or custom board for Xavier NX?
What’s your Jetpack version in use?

Which UART interface are you using from Xavier NX?
What do you mean about “unstable”?

Hi Kevin,
Thanks for your reply. We’re using Xavier NX devikt on our quadrotors, the version of Jetpack is R32 (release), REVISION: 4.3. We use a RS422-USB cable for the connection between IMU sensor and the devikt. The frequency of sensor’s data is 400Hz when we test our program on our laptops, which is exactly what we need. However, when we run the same programme on Xavier NX devikt, the frequency of sensor’s data falled to about 330Hz and continuously fluctuates over time, which makes the data unreliable.

R32.4.4 is a quite old release.
Since you are using the devkit, could you verify with the latest R32.7.4 or R35.4.1?
You could simply update through SDKM.

Could you also share the full serial console log for further check?

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