Using Realsense + Isaac with Nano

Hi – I’m really excited that Isaac for Nano is available, and that it should be able to use Realsense cameras. I got the Isaac sample apps and v4l2_camera app running correctly on the Nano (with a webcam). But when I run the Realsense app I get black screens. I’m using a RealSense 435 (although I also have a 415). I’m thinking there might be some preliminary install I need to do for the RealSense, but all the docs I can find are older and for other versions of Jetson, so I’m nervous about trying to follow them in case they aren’t appropriate for the Nano. FWIW, I made sure only the Realsense camera was plugged in, so video device 0 was the only one on the system.

Thanks for any help! – David

Hello David,

If you have ran the engine/build/scripts/install_dependencies_jetson.sh script, you should have all the software you need to run the Isaac Realsense sample app. (You do need additional software if you want to run the Intel Realsense app, but that is a different topic.)

Make sure you are using a barrel jack power supply, and are using a USB3.0+ cable between the Realsense and the Nano.

Are there any error messages when running the Realsense sample app? If so, can you paste the logs?

In the GTC Kaya demo we were using the Realsense quite heavily.

Thanks!
Jonathan

@jberling – Thanks for the reply. I’ve just tried (re)running the dependency script, changing cables, rebooting, and am still stuck. I do get an error on the console, although it isn’t always the same one. If I run as myself, I get a permission error from Libusb, and if I run using sudo, I get this:

2019-04-09 17:25:01.432 ERROR engine/alice/component.cpp@61: Component ‘camera/realsense’ reported an error: RealSense error calling rs2_pipeline_start_with_config(pipe:0x7fa40510d0, config:0x7fa4069f40): Couldn’t resolve requests
2019-04-09 17:25:01.432 ERROR engine/alice/backend/event_manager.cpp@40: Stopping node ‘camera’ because it reached status ‘FAILURE’

I can use either the Raspberry Pi v2 camera or a Logitech USB webcam just fine, fwiw, although I’ve obviously disconnected both of those before running this code. I’ve tried with both a RealSense 415 and 435. I haven’t updated firmware or anything on them, in case that is important. Below is the stdout log from running the application, in case it is helpful. Thanks for any thoughts! – David

e[33m2019-04-09 17:23:48.824 WARNING engine/alice/backend/backend.cpp@141: This application does not have an explicit scheduler configuration. One will be autogenerated to the best of the systems abilities if possible.e[0m
e[33m2019-04-09 17:23:48.824 WARNING engine/gems/scheduler/scheduler.cpp@327: No default execution groups specified. Attempting to create scheduler configuration for 4 remaining cores. This may be non optimal for the system and application.e[0m
e[0m2019-04-09 17:23:48.824 INFO engine/gems/scheduler/scheduler.cpp@280: Scheduler execution groups are:e[0m
e[0m2019-04-09 17:23:48.824 INFO engine/gems/scheduler/scheduler.cpp@289: BlockerGroup: Cores = [3], Workers = Noe[0m
e[0m2019-04-09 17:23:48.824 INFO engine/gems/scheduler/scheduler.cpp@289: WorkerGroup: Cores = [0, 1, 2], Workers = Yese[0m
e[0m2019-04-09 17:23:48.834 INFO engine/alice/backend/modules.cpp@217: Loaded module ‘packages/perception/libperception_module.so’: Now has 44 components totale[0m
e[0m2019-04-09 17:23:48.857 INFO engine/alice/backend/modules.cpp@217: Loaded module ‘packages/realsense/librealsense_module.so’: Now has 46 components totale[0m
e[0m2019-04-09 17:23:48.873 INFO engine/alice/backend/modules.cpp@217: Loaded module ‘packages/viewers/libviewers_module.so’: Now has 56 components totale[0m
e[0m2019-04-09 17:23:48.873 INFO engine/alice/application.cpp@309: Loaded 56 components: isaac::RealsenseCamera, isaac::RealsenseCameraSimple, isaac::alice::Behavior, isaac::alice::Config, isaac::alice::ConfigBridge, isaac::alice::Failsafe, isaac::alice::FailsafeHeartbeat, isaac::alice::InteractiveMarkersBridge, isaac::alice::MessageLedger, isaac::alice::NodeStatistics, isaac::alice::Pose, isaac::alice::PoseInitializer, isaac::alice::PoseTreeJsonBridge, isaac::alice::PyCodelet, isaac::alice::Recorder, isaac::alice::RecorderBridge, isaac::alice::Replay, isaac::alice::ReplayBridge, isaac::alice::Scheduling, isaac::alice::Sight, isaac::alice::SightChannelStatus, isaac::alice::TcpPublisher, isaac::alice::TcpSubscriber, isaac::alice::Throttle, isaac::alice::UdpPublisher, isaac::alice::UdpSubscriber, isaac::alice::behaviors::Behavior, isaac::alice::behaviors::MemorySelectorBehavior, isaac::alice::behaviors::MemorySequenceBehavior, isaac::alice::behaviors::NodeGroup, isaac::alice::behaviors::ParallelBehavior, isaac::alice::behaviors::SwitchBehavior, isaac::alice::behaviors::TimerBehavior, isaac::ml::SampleAccumulator, isaac::navigation::GroupSelectorBehavior, isaac::navigation::SelectorBehavior, isaac::perception::CropAndDownsample, isaac::perception::DepthImageFlattening, isaac::perception::DepthImageToPointCloud, isaac::perception::EstimateGroundPlane, isaac::perception::EstimateObstacleDistances, isaac::perception::FiducialAsGoal, isaac::perception::FreespaceFromDepth, isaac::perception::ImageUndistortion, isaac::perception::RangeScanFlattening, isaac::perception::RangeToPointCloud, isaac::perception::ScanAccumulator, isaac::viewers::ColorCameraViewer, isaac::viewers::DepthCameraViewer, isaac::viewers::DetectionsViewer, isaac::viewers::LidarViewer, isaac::viewers::MosaicViewer, isaac::viewers::PointCloudViewer, isaac::viewers::SegmentationCameraViewer, isaac::viewers::SegmentationViewer, isaac::viewers::TensorListViewer, e[0m
e[90m2019-04-09 17:23:48.873 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node 'camera’e[0m
e[33m2019-04-09 17:23:48.873 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘camera’, component=‘realsense’, key='tick_period’e[0m
e[90m2019-04-09 17:23:48.874 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node 'viewer’e[0m
e[33m2019-04-09 17:23:48.874 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘viewer’, component=‘color’, key='tick_period’e[0m
e[33m2019-04-09 17:23:48.874 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘viewer’, component=‘depth’, key='tick_period’e[0m
e[90m2019-04-09 17:23:48.874 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node 'point_cloud’e[0m
e[33m2019-04-09 17:23:48.874 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘point_cloud’, component=‘depth_to_pointcloud’, key='tick_period’e[0m
e[33m2019-04-09 17:23:48.874 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘point_cloud’, component=‘viewer’, key='tick_period’e[0m
e[33m2019-04-09 17:23:48.874 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘point_cloud’, component=‘viewer’, key='frame’e[0m
e[0m2019-04-09 17:23:48.887 INFO engine/alice/backend/modules.cpp@217: Loaded module ‘packages/sight/libsight_module.so’: Now has 58 components totale[0m
e[90m2019-04-09 17:23:48.887 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node 'websight’e[0m
e[33m2019-04-09 17:23:48.887 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘websight’, component=‘WebsightServer’, key='tick_period’e[0m
e[33m2019-04-09 17:23:48.887 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=‘websight’, component=‘isaac.sight.AliceSight’, key=‘tick_period’e[0m
e[90m2019-04-09 17:23:48.887 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node ‘_config_bridge’e[0m
e[33m2019-04-09 17:23:48.887 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=’_config_bridge’, component=‘isaac.alice.ConfigBridge’, key=‘tick_period’e[0m
e[90m2019-04-09 17:23:48.887 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node ‘_statistics’e[0m
e[33m2019-04-09 17:23:48.888 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=’_statistics’, component=‘NodeStatistics’, key=‘tick_period’e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node ‘_pose_tree_bridge’e[0m
e[33m2019-04-09 17:23:48.888 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=’_pose_tree_bridge’, component=‘PoseTreeJsonBridge’, key=‘tick_period’e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/alice/backend/node_backend.cpp@48: Creating node ‘_interactive_markers_bridge’e[0m
e[33m2019-04-09 17:23:48.888 WARNING engine/alice/hooks/config_hook.cpp@58: Configuration does not contain a value and no default provided: node=’_interactive_markers_bridge’, component=‘InteractiveMarkersBridge’, key='tick_period’e[0m
e[0m2019-04-09 17:23:48.888 INFO engine/alice/application.cpp@256: Starting application ‘realsense_camera’ (instance UUID: ‘e90b83f2-5b26-11e9-9df6-a97055ae6cd1’) …e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/gems/scheduler/execution_groups.cpp@449: Launching 0 pre-start job(s)e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/gems/scheduler/execution_groups.cpp@458: Replaying 0 pre-start event(s)e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/gems/scheduler/execution_groups.cpp@449: Launching 0 pre-start job(s)e[0m
e[90m2019-04-09 17:23:48.888 DEBUG engine/gems/scheduler/execution_groups.cpp@458: Replaying 0 pre-start event(s)e[0m
e[0m2019-04-09 17:23:48.889 INFO engine/alice/backend/asio_backend.cpp@33: Starting ASIO servicee[0m
e[90m2019-04-09 17:23:48.889 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node 'websight’e[0m
e[90m2019-04-09 17:23:48.889 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘websight/WebsightServer’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘websight/WebsightServer’ DONEe[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'websight/WebsightServer’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘websight/isaac.sight.AliceSight’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘websight/isaac.sight.AliceSight’ DONEe[0m
e[33m2019-04-09 17:23:48.890 WARNING engine/alice/backend/codelet_backend.cpp@281: Codelet ‘websight/isaac.sight.AliceSight’ was not added to scheduler because no tick method is specified.e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node '_config_bridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘_config_bridge/isaac.alice.ConfigBridge’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘_config_bridge/isaac.alice.ConfigBridge’ DONEe[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_config_bridge/isaac.alice.ConfigBridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node '_statistics’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘_statistics/NodeStatistics’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘_statistics/NodeStatistics’ DONEe[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_statistics/NodeStatistics’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node '_pose_tree_bridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘_pose_tree_bridge/PoseTreeJsonBridge’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘_pose_tree_bridge/PoseTreeJsonBridge’ DONEe[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_pose_tree_bridge/PoseTreeJsonBridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node '_interactive_markers_bridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘_interactive_markers_bridge/InteractiveMarkersBridge’ …e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘_interactive_markers_bridge/InteractiveMarkersBridge’ DONEe[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '_interactive_markers_bridge/InteractiveMarkersBridge’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node 'camera’e[0m
e[90m2019-04-09 17:23:48.890 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘camera/realsense’ …e[0m
e[33m2019-04-09 17:23:49.054 WARNING packages/realsense/RealsenseCameraSimple.cpp@36: Realsense recommended firmware version is 05.10.03.00, currently using firmware version 05.08.15.00e[0m
e[0m2019-04-09 17:23:49.320 INFO packages/sight/WebsightServer.cpp@106: Server connected / 1e[0m
e[0m2019-04-09 17:23:49.321 INFO packages/sight/WebsightServer.cpp@106: Server connected / 2e[0m
e[90m2019-04-09 17:23:50.116 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘camera/realsense’ DONEe[0m
e[90m2019-04-09 17:23:50.116 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'camera/realsense’e[0m
e[90m2019-04-09 17:23:50.116 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node 'viewer’e[0m
e[90m2019-04-09 17:23:50.116 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘viewer/color’ …e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘viewer/color’ DONEe[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'viewer/color’e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘viewer/depth’ …e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘viewer/depth’ DONEe[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'viewer/depth’e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/node_backend.cpp@318: Starting node 'point_cloud’e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘point_cloud/depth_to_pointcloud’ …e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘point_cloud/depth_to_pointcloud’ DONEe[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'point_cloud/depth_to_pointcloud’e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@61: Starting codelet ‘point_cloud/viewer’ …e[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@73: Starting codelet ‘point_cloud/viewer’ DONEe[0m
e[90m2019-04-09 17:23:50.117 DEBUG engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet 'point_cloud/viewer’e[0m
e[90m2019-04-09 17:23:50.127 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node 'camera’e[0m
e[90m2019-04-09 17:23:50.137 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘camera/realsense’ …e[0m
e[90m2019-04-09 17:23:50.146 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘camera/realsense’ DONEe[0m
e[0m2019-04-09 17:24:03.150 INFO engine/alice/application.cpp@262: Stopping application ‘realsense_camera’ (instance UUID: ‘e90b83f2-5b26-11e9-9df6-a97055ae6cd1’) …e[0m
e[0m2019-04-09 17:24:03.150 INFO engine/alice/backend/backend.cpp@116: Backend is shutting down…e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node 'point_cloud’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘point_cloud/viewer’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘point_cloud/viewer’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘point_cloud/depth_to_pointcloud’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘point_cloud/depth_to_pointcloud’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node 'viewer’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘viewer/depth’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘viewer/depth’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘viewer/color’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘viewer/color’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node '_interactive_markers_bridge’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘_interactive_markers_bridge/InteractiveMarkersBridge’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘_interactive_markers_bridge/InteractiveMarkersBridge’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node '_pose_tree_bridge’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘_pose_tree_bridge/PoseTreeJsonBridge’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘_pose_tree_bridge/PoseTreeJsonBridge’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node '_statistics’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘_statistics/NodeStatistics’ …e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘_statistics/NodeStatistics’ DONEe[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node '_config_bridge’e[0m
e[90m2019-04-09 17:24:03.159 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘_config_bridge/isaac.alice.ConfigBridge’ …e[0m
e[90m2019-04-09 17:24:03.160 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘_config_bridge/isaac.alice.ConfigBridge’ DONEe[0m
e[90m2019-04-09 17:24:03.160 DEBUG engine/alice/backend/node_backend.cpp@343: Stopping node 'websight’e[0m
e[90m2019-04-09 17:24:03.160 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘websight/isaac.sight.AliceSight’ …e[0m
e[90m2019-04-09 17:24:03.160 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘websight/isaac.sight.AliceSight’ DONEe[0m
e[90m2019-04-09 17:24:03.170 DEBUG engine/alice/backend/codelet_backend.cpp@97: Stopping codelet ‘websight/WebsightServer’ …e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@394: =====================================================================================e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@395: | Websight Statistics Report |e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@396: =====================================================================================e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@397: | Name | Bandwidth | Total | Count |e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@398: -------------------------------------------------------------------------------------e[0m
e[0m2019-04-09 17:24:03.170 INFO packages/sight/WebsightServer.cpp@417: =====================================================================================e[0m
e[90m2019-04-09 17:24:03.170 DEBUG engine/alice/backend/codelet_backend.cpp@107: Stopping codelet ‘websight/WebsightServer’ DONEe[0m
e[0m2019-04-09 17:24:03.171 INFO engine/alice/backend/asio_backend.cpp@49: Stopping ASIO servicee[0m
e[90m2019-04-09 17:24:03.181 DEBUG engine/gems/scheduler/execution_groups.cpp@478: Stopping all threads for execution group BlockerGroup…e[0m
e[90m2019-04-09 17:24:03.181 DEBUG engine/gems/scheduler/execution_groups.cpp@482: Stopping all threads DONEe[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@511: |================================================================================================|e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@512: | Job Statistics Report (blocking) |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@513: |================================================================================================|e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@514: | Name | Job Mode | #Run | Avg Time |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@515: |------------------------------------------------------------------------------------------------|e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@528: | camera/realsense | Blocking | 23736 | 0.00 ms |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@528: | websight/WebsightServer | Blocking | 2405 | 5.93 ms |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@528: | ASIO Service | Blocking | 1 | 14282.14 ms |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@528: | NodeQueue | Blocking One Shot | 1 | 14281.60 ms |e[0m
e[0m2019-04-09 17:24:03.182 INFO engine/gems/scheduler/execution_groups.cpp@530: |================================================================================================|e[0m
e[90m2019-04-09 17:24:03.182 DEBUG engine/gems/scheduler/execution_groups.cpp@478: Stopping all threads for execution group WorkerGroup…e[0m
e[90m2019-04-09 17:24:03.184 DEBUG engine/gems/scheduler/execution_groups.cpp@482: Stopping all threads DONEe[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@549: |===============================================================================================================================================|e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@550: | Job Statistics Report (regular) |e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@551: |===============================================================================================================================================|e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@553: | Name | Job Mode | #Run | Avg Time | Load | Overrun | Avg Overrun | Exec Delay |e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@554: |-----------------------------------------------------------------------------------------------------------------------------------------------|e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@568: | _statistics/NodeStatistics | Periodic | 58 | 1.38 ms | 46.04 % | 0.00 % | 0.00 ms | 103.7 mus |e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@568: | _pose_tree_bridge/PoseTreeJsonBridge | Periodic | 286 | 0.24 ms | 39.29 % | 0.00 % | 0.00 ms | 139.3 mus |e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@568: | …eractive_markers_bridge/InteractiveMarkersBridge | Periodic | 286 | 0.07 ms | 11.15 % | 0.00 % | 0.00 ms | 81.9 mus |e[0m
e[0m2019-04-09 17:24:03.184 INFO engine/gems/scheduler/execution_groups.cpp@568: | FailsafeHeartBeat | Periodic | 1430 | 0.00 ms | 3.31 % | 0.00 % | 0.00 ms | 332.9 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@568: | _config_bridge/isaac.alice.ConfigBridge | Event | 2 | 0.18 ms | 0.21 % | 0.00 % | 0.00 ms | 123.9 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@568: | point_cloud/viewer | Event | 0 | 0.00 ms | 0.00 % | 0.00 % | 0.00 ms | 0.0 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@568: | point_cloud/depth_to_pointcloud | Event | 0 | 0.00 ms | 0.00 % | 0.00 % | 0.00 ms | 0.0 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@568: | viewer/depth | Event | 0 | 0.00 ms | 0.00 % | 0.00 % | 0.00 ms | 0.0 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@568: | viewer/color | Event | 0 | 0.00 ms | 0.00 % | 0.00 % | 0.00 ms | 0.0 mus |e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/gems/scheduler/execution_groups.cpp@570: |===============================================================================================================================================|e[0m
e[0m2019-04-09 17:24:03.185 INFO engine/alice/backend/backend.cpp@128: Backend is shutting down… DONEe[0m

P.S. I am using a 4 amp rated power supply and the barrel jack.

Hey David,

Looking at the logs, this line stands out:

2019-04-09 17:23:49.054 WARNING packages/realsense/RealsenseCameraSimple.cpp@36: Realsense recommended firmware version is 05.10.03.00, currently using firmware version 05.08.15.00

5.08.15 is pretty old. For the version of the Realsense API Isaac is using firmware version 5.10.03 is recommended.

You should be able to run the Realsense app without the need for sudo. Normally I use the user account ‘nvidia’ to run Isaac apps on the Nano. If you are using a different user account you can use:

./engine/build/scripts/install_dependencies_jetson.sh --user <username>

Or try running the following command on the Nano

sudo usermod -a -G i2c,dialout $USER

@jberling – Thanks! I updated the firmware & ran the deploy script with my username and now the camera is working!

I still have to launch it using sudo, but as long as that doesn’t cause other problems I’m fine with that. FWIW, my Nano doesn’t have an “nvidia” user that I can see, so I’m not sure if I missed something when I first installed it or something.

– David

Hey David,

I’m glad you got it working!

What is the error message you see when launching without sudo?

I think the nvidia username is a holdover from older versions of jetpack. It should work with any username.

I get a LIBUSB_ERROR_ACCESS right after the server connected line. I’ve searched for it on the web, and there are various reports of something similar, with some people just running sudo and some others talking about fixing it in a way that I’m not sure applies to a arm CPU? In any case here is the error:

2019-04-11 15:48:38.888 INFO packages/sight/WebsightServer.cpp@106: Server connected / 1
2019-04-11 15:48:39.163 ERROR engine/alice/component.cpp@61: Component ‘camera/realsense’ reported an error: RealSense error calling rs2_create_device(info_list:0x7f90051ab0, index:0): libusb_open(…) returned LIBUSB_ERROR_ACCESS Last Error: Permission denied
2019-04-11 15:48:39.163 ERROR engine/alice/backend/event_manager.cpp@40: Stopping node ‘camera’ because it reached status ‘FAILURE’

On the Nano using the “groups” command I can see that I’m a member of the following groups:

nvidia adm dialout cdrom sudo audio dip video plugdev i2c lpadmin gdm sambashare

Other than nvidia, are any of those groups missing?

My list is the same (except for nvidia, which doesn’t exist):

david adm dialout cdrom sudo audio dip video plugdev i2c lpadmin gdm sambashare

the realsense camera requires some udev rules maybe those are not on your system?

Hi there,

I am trying to use the Realsense D435 with the opencv_edge_detection tutorial app. When I deploy the opencv_edge_detection tutorial app the Nano, I get:

2019-09-29 19:27:26.467 PANIC packages/sensors/V4L2Camera.cpp@149: [V4L2Camera] Error: driver has changed pixel format to: 540422490

| Isaac application terminated unexpectedly |

#01 engine/alice/tools/main(+0x67d80) [0x5572010d80]
#02 engine/alice/tools/main(+0xd4e50) [0x557207de50]
#03 engine/alice/tools/main(+0xd5158) [0x557207e158]
#04 linux-vdso.so.1(__kernel_rt_sigreturn+0) [0x7fa68a36c0]
#05 /lib/aarch64-linux-gnu/libc.so.6(raise+0xb0) [0x7fa64074d8]

Minidump written to: /tmp/0f12a1cf-6a0c-4e08-a681e18d-67cecd3f.dmp

Any thoughts on how to change the pixel format to the correct one? Anyway to get the V4L2Camera package to play nicely with the Realsense camera? Thanks in advance for any help you can offer.