[D435i connection issue on Jetson Orin Nano] #13553
Comments
|
Hi @sooyoungmoon When installing from source code on Jetson, the installation_jetson.md instructions at the dedicated Jetson installation page at the link below should be used. Jetson also has its own dedicated patch script called patch-realsense-ubuntu-L4T.sh that should be used instead of the hwe patch script. You can also build from source using the libuvc backend procedure, which I note that you have aleady tried. As you are using JetPack 6 with an IMU-equipped D435i camera, the non-detection is likely to be related to JP6 because it no longer has a function called hiddraw that RealSense IMU cameras depended on. As you are using Ubuntu 22.04, resolving the detection problem by downgrading to JetPack 5.1.3 may not be an option for you. In regard to the approach of adding JP6 support for IMU by installing the MIPI driver, you can seek advice about it at the driver's dedicated support page at the link below. https://github.com/IntelRealSense/realsense_mipi_platform_driver/issues Q1: Building the MIPI driver is not mandatory if you can add IMU support by using JP 5.1.3 (for example, by downgrading to Ubuntu 20.04) or using the libuvc baackend installation procedure (which did not solve the problem for you in this particular case). If neither a JP downrade or the libuvc procedur work for you though then the MIPI driver would be the final option available, other than changing to a non-IMU camera model such as D435. Q2: A deserializer board is not required to use the MIPI driver for the purpose of adding IMU support to a camera being used on a USB cable connection. Q3: As mentioned above, the L4T patch script should be used with Jetson boards istead of the HWE patch script. Intel also strongly recommend enabling the barrel jack power connector for Nano type Jetson boards, using the instructions at the link below. https://jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/ |
|
I had the same issue with D455 realsense camera connectivity with Jetson with Jetpack 6.0 , Ubuntu 22.04 and ROS2 humble version. |
|
@shivani-varsha The stated downgrade configuration should work. |
Thanks for verifying. |
|
As far as I understood, I should do one of two options to patch kernel in
the installation_jetson.md; 1) Building from source using RSUSB backend or
2) Building from source using Native backend, right? I will try them and
share the result. Have a nice weekend!
2024년 11월 28일 (목) 오후 7:17, MartyG-RealSense ***@***.***>님이 작성:
… Hi @sooyoungmoon <https://github.com/sooyoungmoon> When installing from
source code on Jetson, the *installation_jetson.md* instructions at the
dedicated Jetson installation page at the link below should be used.
https://github.com/intelRealSense/librealsense/blob/master/doc/installation_jetson.md#building-from-source-using-native-backend
Jetson also has its own dedicated patch script called
*patch-realsense-ubuntu-L4T.sh* that should be used instead of the hwe
patch script.
https://github.com/IntelRealSense/librealsense/blob/master/scripts/patch-realsense-ubuntu-L4T.sh
------------------------------
You can also build from source using the *libuvc backend* procedure,
which I note that you have aleady tried.
------------------------------
As you are using JetPack 6 with an IMU-equipped D435i camera, the
non-detection is likely to be related to JP6 because it no longer has a
function called *hiddraw* that RealSense IMU cameras depended on. As you
are using Ubuntu 22.04, resolving the detection problem by downgrading to
JetPack 5.1.3 may not be an option for you.
------------------------------
In regard to the approach of adding JP6 support for IMU by installing the
MIPI driver, you can seek advice about it at the driver's dedicated support
page at the link below.
https://github.com/IntelRealSense/realsense_mipi_platform_driver/issues
Q1: Building the MIPI driver is not mandatory if you can add IMU support
by using JP 5.1.3 (for example, by downgrading to Ubuntu 20.04) or using
the libuvc baackend installation procedure (which did not solve the problem
for you in this particular case). If neither a JP downrade or the libuvc
procedur work for you though then the MIPI driver would be the final option
available, other than changing to a non-IMU camera model such as D435.
Q2: A deserializer board is not required to use the MIPI driver for the
purpose of adding IMU support to a camera being used on a USB cable
connection.
Q3: As mentioned above, the L4T patch script should be used with Jetson
boards istead of the HWE patch script.
------------------------------
Intel also strongly recommend enabling the *barrel jack* power connector
for Nano type Jetson boards, using the instructions at the link below.
https://jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/
—
Reply to this email directly, view it on GitHub
<#13553 (comment)>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/ACG2RHPBI44KUVVVFYWWQAL2C3UUJAVCNFSM6AAAAABSTM7OFCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKMBVG42TEOJQGE>
.
You are receiving this because you were mentioned.Message ID:
***@***.***>
|
|
Yes they are two installation options, though if you use the RSUSB method then you do not need to use a kernel patch. If you use method 2 then the Jetson kernel patch script patch-realsense-ubuntu-L4T.sh should be used. I look forward to your next report. Good luck! |
|
Hello @MartyG-RealSense , thank you for your support and $ realsense-viewer
Question: Why don't the incoming images cover the whole camera's view and what can I do to get clear images? $ rs-enumerate-devices
Device info:
Name : Intel RealSense D435I
Serial Number : 841612070518
Firmware Version : 5.16.0.1
Recommended Firmware Version : 5.16.0.1
Physical Port : 1-2.3-7
Debug Op Code : 15
Advanced Mode : YES
Product Id : 0B3A
Camera Locked : YES
Usb Type Descriptor : 2.1
Product Line : D400
Asic Serial Number : 850123051257
Firmware Update Id : 850123051257
Dfu Device Path :
Stream Profiles supported by Stereo Module
Supported modes:
STREAM RESOLUTION FORMAT FPS
Infrared 1 1280x720 Y8 @ 6 Hz
Infrared 1 848x480 Y8 @ 10/8/6 Hz
Infrared 1 640x480 Y8 @ 30/15/6 Hz
Infrared 1 640x360 Y8 @ 30 Hz
Infrared 1 480x270 Y8 @ 60/30/15/6 Hz
Infrared 2 1280x720 Y8 @ 6 Hz
Infrared 2 848x480 Y8 @ 10/8/6 Hz
Infrared 2 640x480 Y8 @ 30/15/6 Hz
Infrared 2 640x360 Y8 @ 30 Hz
Infrared 2 480x270 Y8 @ 60/30/15/6 Hz
Depth 1280x720 Z16 @ 6 Hz
Depth 848x480 Z16 @ 10/8/6 Hz
Depth 640x480 Z16 @ 30/15/6 Hz
Depth 640x360 Z16 @ 30 Hz
Depth 480x270 Z16 @ 60/30/15/6 Hz
Depth 256x144 Z16 @ 90 Hz
Stream Profiles supported by RGB Camera
Supported modes:
STREAM RESOLUTION FORMAT FPS
Color 1920x1080 RGB8 @ 8 Hz
Color | Y8 @ 8 Hz
Color | BGRA8 @ 8 Hz
Color | RGBA8 @ 8 Hz
Color | BGR8 @ 8 Hz
Color | YUYV @ 8 Hz
Color 1280x720 RGB8 @ 15/10/6 Hz
Color | Y8 @ 15/10/6 Hz
Color | BGRA8 @ 15/10/6 Hz
Color | RGBA8 @ 15/10/6 Hz
Color | BGR8 @ 15/10/6 Hz
Color | YUYV @ 15/10/6 Hz
Color 640x480 RGB8 @ 30/15/6 Hz
Color | Y8 @ 30/15/6 Hz
Color | BGRA8 @ 30/15/6 Hz
Color | RGBA8 @ 30/15/6 Hz
Color | BGR8 @ 30/15/6 Hz
Color | YUYV @ 30/15/6 Hz
Color 424x240 RGB8 @ 60/30/15/6 Hz
Color | Y8 @ 60/30/15/6 Hz
Color | BGRA8 @ 60/30/15/6 Hz
Color | RGBA8 @ 60/30/15/6 Hz
Color | BGR8 @ 60/30/15/6 Hz
Color | YUYV @ 60/30/15/6 Hz
Stream Profiles supported by Motion Module
Supported modes:
STREAM FORMAT FPS
Accel MOTION_XYZ32F @ 250/63 Hz
Gyro MOTION_XYZ32F @ 400/200 Hz
@shivani-varsha Please refer to my case and you will be able to connect your camera to the Jetson Orin Nano. Good luck! |
|
Hi @sooyoungmoon I'm pleased to hear that your camera is now detected. In regard to the images, you can see more complete images if you click on the '2D' option in the top corner of the RealSense Viewer window.
The '3D' mode that the above image is from is the Viewer's point cloud mode. Point cloud images are often like this. You could try changing the Preset* camera configuration option near the top of the Viewer's opions side-panel from 'Custom' to 'Medium Density' to see whether it improves the point cloud, as the Medium Density configuration preset provides a good balance between accuracy and the amount of depth detail on the image. |
Dear @MartyG-RealSense Thank you for your support!
|
|
I recall a similar past problem when installing rtabmap_ros where realsense-viewer worked correctly again after rtabmap_ros was uninstalled. |
|
Thank you for your advice! |
|
Closing this issue. |
|
You are very welcome, @sooyoungmoon - thanks very much for the update and please do post another issue if you need to. Good luck! |
|
Could you state how you actually solved the connection issue? The tread is open-ended and does not communicate the resolution. |
Hi @jrateliff, I managed to connect my D435 camera to a jetson orin nano board using the following steps (actually, they were discussed in the middle of this thread). The steps I tried: (please refer to #13116 (#13116) )
You can test the result using rs-enumerate-devices command and realsense-viewer to see whether the camera is connected to your Jetson board. |
|
My D435i is successfully connected to the Jetson Nano, and I can open and display it using realsense-viewer. However, I am unable to retrieve IMU data, and the program freezes. Another issue is that in my Python script, when calling profile = pipeline.start(config), it shows 'no device connected', although lsusb clearly shows that the device is connected." need your help |
|
Hi @xingtongliuliumei Are you using JetPack 6 please? If you are then JP6 can have problems accessing the IMU, or detecting the camera at all. This is because - as mentioned earlier in this discussion at #13553 (comment) - JP6 lacks a function called hiddraw that IMU-equipped RealSense camera models such as D435i depend upon. |
|
Yes, I’m using JetPack 6.1, and I installed it with the and add -DBUILD_WITH_python=true flag. The main issue is that while I can open RealSense Viewer, I still cannot access the device in the Python script. It shows 'No device connected'. |
|
@xingtongliuliumei Also including the flag Have you tried launching your script with sudo admin permissions by putting sudo in front of the launch command? For example, sudo python3 test.py |
Hi, I am trying to do SLAM using Intel realsense2 D435i camera on my Jetson Orin Nano board.
But I'm experiencing connection issue with a D435i camera on my Jetson Orin Nano board.
Description
Issue: D435i Camera is not detected in realsense-viewer on my Jetson Orin Nano board
Progress until now:
Tried to follow the build steps explained in [Intel® RealSense™ camera driver for GMSL* interface] (https://github.com/IntelRealSense/realsense_mipi_platform_driver), but got stuck
I cannot find where the script ./apply_patches.sh exist.
Questions:
Thank you for your support. I'm looking forward to your comment.
The text was updated successfully, but these errors were encountered: