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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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librealsense+realsense_ros Jetson Orin nano #11977

Open MichaelKerley opened 1 year ago

MichaelKerley commented 1 year ago
Required Info Nvidia Jetson Orin nano
Camera Model { D435 }
Firmware Version 5.15.0.2
Operating System & Version Jetpack 5 (Ubuntu 20.04) Jetson Linux 35.3.1
Kernel Version (Linux Only) (5.1)
Platform NVIDIA Jetson Orin Nano
SDK Version { 2.54.1 }

Issue Description

I am trying to get librealsense working with realsense_ros so that I can display a pointcloud in rviz... I am following the instructions provided here... https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy realsense ros was installed using the method outlined in step 2 of the above instructions

To install realsense sdk I used two different methods from this guide https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

1: When using the apt-get method

michael@ubuntu:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/roslaunch-ubuntu-77199.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://10.144.166.95:39847/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://10.144.106.21:11311/

process[camera/realsense2_camera_manager-1]: started with pid [77219] process[camera/realsense2_camera-2]: started with pid [77220] [ INFO] [1688767644.481799995]: Initializing nodelet with 6 worker threads. [ INFO] [1688767646.182192671]: RealSense ROS v2.3.2 [ INFO] [1688767646.182439620]: Built with LibRealSense v2.50.0 [ INFO] [1688767646.182632616]: Running with LibRealSense v2.50.0 [ INFO] [1688767646.344277535]:
[ INFO] [1688767646.619063791]: Device with serial number 938422076992 was found.

[ INFO] [1688767646.619174962]: Device with physical ID 1-2.1-7 was found. [ INFO] [1688767646.619202098]: Device with name Intel RealSense D435 was found. [ INFO] [1688767646.621104056]: Device with port number 1-2.1 was found. [ INFO] [1688767646.622154540]: Device USB type: 2.1 [ WARN] [1688767646.622346896]: Device 938422076992 is connected using a 2.1 port. Reduced performance is expected.

[ INFO] [1688767647.918123099]: JSON file is not provided [ INFO] [1688767647.918373696]: ROS Node Namespace: camera [ INFO] [1688767647.918630661]: Device Name: Intel RealSense D435 [ INFO] [1688767647.918892202]: Device Serial No: 938422076992 [ INFO] [1688767647.919225456]: Device physical port: 1-2.1-7 [ INFO] [1688767647.919469973]: Device FW version: 05.15.00.02 [ INFO] [1688767647.919725562]: Device Product ID: 0x0B07 [ INFO] [1688767647.920040641]: Enable PointCloud: Off [ INFO] [1688767647.920271589]: Align Depth: Off [ INFO] [1688767647.920513386]: Sync Mode: Off [ INFO] [1688767647.920955859]: Device Sensors: [ INFO] [1688767648.034201614]: Stereo Module was found. [ INFO] [1688767648.065298068]: RGB Camera was found. [ INFO] [1688767648.065461111]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1688767648.069018269]: num_filters: 0 [ INFO] [1688767648.069092671]: Setting Dynamic reconfig parameters. hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) [ INFO] [1688767655.554418408]: Done Setting Dynamic reconfig parameters. /opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/michael/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev [camera/realsense2_camera_manager-1] process has died [pid 77219, exit code 127, cmd /opt/ros/noetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera_manager-1.log]. log file: /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

2: When using the RSUSB method

michael@ubuntu:~/librealsense$ realsense-viewer bash: /usr/bin/realsense-viewer: No such file or directory

michael@ubuntu:~/catkin_ws$ roslaunch realsense2_camera rs_camera.launch ... logging to /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/roslaunch-ubuntu-67759.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://10.144.166.95:39381/

SUMMARY

PARAMETERS

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

ROS_MASTER_URI=http://10.144.106.21:11311/

process[camera/realsense2_camera_manager-1]: started with pid [67778] process[camera/realsense2_camera-2]: started with pid [67779] [ INFO] [1688766544.064357565]: Initializing nodelet with 6 worker threads. [ INFO] [1688766544.292863953]: RealSense ROS v2.3.2 [ INFO] [1688766544.292977909]: Built with LibRealSense v2.50.0 [ INFO] [1688766544.293018966]: Running with LibRealSense v2.50.0 [ INFO] [1688766544.381246764]:
[ INFO] [1688766544.666438056]: Device with serial number 938422076992 was found.

[ INFO] [1688766544.667950802]: Device with physical ID 1-2.1-7 was found. [ INFO] [1688766544.668289756]: Device with name Intel RealSense D435 was found. [ INFO] [1688766544.670970662]: Device with port number 1-2.1 was found. [ INFO] [1688766544.671796605]: Device USB type: 2.1 [ WARN] [1688766544.672153447]: Device 938422076992 is connected using a 2.1 port. Reduced performance is expected.

[ INFO] [1688766546.021326220]: JSON file is not provided [ INFO] [1688766546.021528882]: ROS Node Namespace: camera [ INFO] [1688766546.021731287]: Device Name: Intel RealSense D435 [ INFO] [1688766546.021903900]: Device Serial No: 938422076992 [ INFO] [1688766546.022082209]: Device physical port: 1-2.1-7 [ INFO] [1688766546.022268070]: Device FW version: 05.15.00.02 [ INFO] [1688766546.022455180]: Device Product ID: 0x0B07 [ INFO] [1688766546.022794805]: Enable PointCloud: Off [ INFO] [1688766546.022983738]: Align Depth: Off [ INFO] [1688766546.023158591]: Sync Mode: Off [ INFO] [1688766546.023425031]: Device Sensors: [ INFO] [1688766546.098159107]: Stereo Module was found. [ INFO] [1688766546.143228487]: RGB Camera was found. [ INFO] [1688766546.143381931]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1688766546.143445677]: num_filters: 0 [ INFO] [1688766546.143479246]: Setting Dynamic reconfig parameters. hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) [ INFO] [1688766552.828000424]: Done Setting Dynamic reconfig parameters. /opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/michael/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev [camera/realsense2_camera_manager-1] process has died [pid 67778, exit code 127, cmd /opt/ros/noetic/lib/nodelet/nodelet manager name:=realsense2_camera_manager log:=/home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera_manager-1.log]. log file: /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera_manager-1.log [camera/realsense2_camera-2] process has finished cleanly log file: /home/michael/.ros/log/c18c36e2-1cfa-11ee-a3e2-c76eb876b7b1/camera-realsense2_camera-2.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

MartyG-RealSense commented 1 year ago

Hi @MichaelKerley Versions 2.50.0 of the librealsense SDK and 2.3.2 of the ROS wrapper are the correct pairing.

It appears that you are experiencing the same error message when installing librealsense with either apt-get or an RSUSB source code build.

/opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/michael/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev

Ideally, there should only be one type of librealsense installation on the same computer (either package or source code, but not both).

If the ROS wrapper was installed from source code with Step 2, then let's first try removing the librealsense package build so that only the source code build of the SDK remains. Inputting the command below into the Ubuntu terminal should uninstall all RealSense related packages.

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

If uninstalling the package version of librealsense does not make a difference, a RealSense ROS user at https://github.com/IntelRealSense/realsense-ros/issues/2467#issuecomment-1268417031 shares the method for how they resolved their own undefined symbol: _ZN2cv3MatC1Ev error. They were using a Jetson AGX Orin in their particular case.

ammarazab1 commented 1 year ago

This issues is occured because you are download ddynamic_reconfigure multiple time make this command roscd ddynamic_reconfigure

and if it in the any workspace delete it and rebuild the workspace

and then check and remove it from main ROS distribute

sudo apt remove ros-distro-ddynamic_reconfigure

and reinstall ddynamic_reconfigure

MichaelKerley commented 1 year ago

I managed to get realsense viewer working after doing dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

However now when building realsense ros I get

michael@ubuntu:~/catkin_ws$ catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release Base path: /home/michael/catkin_ws Source space: /home/michael/catkin_ws/src Build space: /home/michael/catkin_ws/build Devel space: /home/michael/catkin_ws/devel Install space: /home/michael/catkin_ws/install Running command: "make cmake_check_build_system" in "/home/michael/catkin_ws/build" Running command: "make -j6 -l6" in "/home/michael/catkin_ws/build"

[ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target _realsense2_camera_generate_messages_check_deps_Metadata [ 0%] Built target sensor_msgs_generate_messages_lisp [ 0%] Built target _realsense2_camera_generate_messages_check_deps_DeviceInfo [ 0%] Built target _realsense2_camera_generate_messages_check_deps_IMUInfo [ 0%] Built target _realsense2_camera_generate_messages_check_deps_Extrinsics [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target _catkin_empty_exported_target [ 0%] Built target tf_generate_messages_nodejs [ 0%] Built target diagnostic_msgs_generate_messages_nodejs [ 0%] Built target diagnostic_msgs_generate_messages_eus [ 0%] Built target diagnostic_msgs_generate_messages_cpp [ 0%] Built target dynamic_reconfigure_gencfg [ 0%] Built target dynamic_reconfigure_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_nodejs [ 0%] Built target dynamic_reconfigure_generate_messages_lisp [ 0%] Built target tf2_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_py [ 0%] Built target diagnostic_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py [ 0%] Built target roscpp_generate_messages_py [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] Built target dynamic_reconfigure_generate_messages_py [ 0%] Built target nav_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target roscpp_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target tf2_msgs_generate_messages_eus [ 0%] Built target roscpp_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target dynamic_reconfigure_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_cpp [ 0%] Built target rosgraph_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_py [ 0%] Built target roscpp_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_py [ 0%] Built target tf_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_cpp [ 0%] Built target diagnostic_msgs_generate_messages_py [ 0%] Built target actionlib_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_py [ 0%] Built target bond_generate_messages_lisp [ 0%] Built target nav_msgs_generate_messages_nodejs [ 0%] Built target dynamic_reconfigure_generate_messages_nodejs [ 0%] Built target bond_generate_messages_eus [ 0%] Built target tf2_msgs_generate_messages_py [ 0%] Built target std_srvs_generate_messages_lisp [ 0%] Built target std_srvs_generate_messages_eus [ 0%] Built target bond_generate_messages_cpp [ 0%] Built target nodelet_generate_messages_cpp [ 0%] Built target nodelet_generate_messages_lisp [ 0%] Built target nodelet_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_nodejs [ 0%] Built target nodelet_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_nodejs [ 0%] Built target bond_generate_messages_nodejs [ 0%] Built target tf_generate_messages_lisp [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target bond_generate_messages_py [ 0%] Built target nodelet_generate_messages_py [ 14%] Built target realsense2_camera_generate_messages_lisp [ 29%] Built target realsense2_camera_generate_messages_nodejs [ 70%] Built target realsense2_camera_generate_messages_py [ 70%] Built target realsense2_camera_generate_messages_eus [ 85%] Built target realsense2_camera_generate_messages_cpp [ 85%] Built target realsense2_camera_generate_messages [ 96%] Building CXX object realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o [ 96%] Building CXX object realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/t265_realsense_node.cpp.o [ 96%] Building CXX object realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/realsense_node_factory.cpp.o In file included from /usr/include/boost/range/iterator_range_core.hpp:38, from /usr/include/boost/lexical_cast.hpp:30, from /opt/ros/noetic/include/ros/transport_hints.h:34, from /opt/ros/noetic/include/ros/subscribe_options.h:33, from /opt/ros/noetic/include/ros/node_handle.h:42, from /opt/ros/noetic/include/ros/ros.h:45, from /opt/ros/noetic/include/image_transport/publisher.h:38, from /opt/ros/noetic/include/image_transport/image_transport.h:38, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/../include/realsense_node_factory.h:8, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:6, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:1: /usr/include/boost/range/functions.hpp:18:10: fatal error: boost/range/begin.hpp: No such file or directory 18 | #include <boost/range/begin.hpp> | ^~~~~~~ In file included from /usr/include/boost/range/iterator_range_core.hpp:38, from /usr/include/boost/lexical_cast.hpp:30, from /opt/ros/noetic/include/ros/transport_hints.h:34, from /opt/ros/noetic/include/ros/subscribe_options.h:33, from /opt/ros/noetic/include/ros/node_handle.h:42, from /opt/ros/noetic/include/ros/ros.h:45, from /opt/ros/noetic/include/image_transport/publisher.h:38, from /opt/ros/noetic/include/image_transport/image_transport.h:38, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/realsense_node_factory.h:8, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/realsense_node_factory.cpp:4: /usr/include/boost/range/functions.hpp:18:10: fatal error: boost/range/begin.hpp: No such file or directory 18 | #include <boost/range/begin.hpp> | ^~~~~~~ compilation terminated. compilation terminated. In file included from /usr/include/boost/range/iterator_range_core.hpp:38, from /usr/include/boost/lexical_cast.hpp:30, from /opt/ros/noetic/include/ros/transport_hints.h:34, from /opt/ros/noetic/include/ros/subscribe_options.h:33, from /opt/ros/noetic/include/ros/node_handle.h:42, from /opt/ros/noetic/include/ros/ros.h:45, from /opt/ros/noetic/include/image_transport/publisher.h:38, from /opt/ros/noetic/include/image_transport/image_transport.h:38, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/include/../include/realsense_node_factory.h:8, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/include/base_realsense_node.h:6, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/../include/t265_realsense_node.h:3, from /home/michael/catkin_ws/src/realsense-ros/realsense2_camera/src/t265_realsense_node.cpp:1: /usr/include/boost/range/functions.hpp:18:10: fatal error: boost/range/begin.hpp: No such file or directory 18 | #include <boost/range/begin.hpp> | ^~~~~~~ compilation terminated. make[2]: [realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/build.make:76: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... make[2]: [realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/build.make:89: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/t265_realsense_node.cpp.o] Error 1 make[2]: [realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/build.make:63: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/realsense_node_factory.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:1547: realsense-ros/realsense2_camera/CMakeFiles/realsense2_camera.dir/all] Error 2 make: [Makefile:130: all] Error 2 Invoking "make -j6 -l6" failed

MartyG-RealSense commented 1 year ago

The problems in the wrapper build seem to begin with this error:

/usr/include/boost/range/functions.hpp:18:10: fatal error: boost/range/begin.hpp: No such file or directory

Boost was removed from the current latest librealsense SDK version 2.54.1. Which librealsense version do you currently have installed, please? If it is 2.54.1 then I can see how the removal of Boost as a dependency in this SDK version might cause the No such file or directory error. As you are using ROS Noetic and wrapper 2.3.2, the librealsense version must not be newer than 2.51.1.

fitzzzzzzzzz commented 1 year ago

I am also facing a same error and my versions are: 2.50.0 of the librealsense SDK and 2.3.2 of the ROS wrapper have you found any solid fix for this. I am also running on jetson device with ubuntu 20.04

please help @MartyG-RealSense

MartyG-RealSense commented 1 year ago

Hi @fitzzzzzzzzz The ROS1 wrapper (2.3.2) has not been updated since last year as development of it has ceased. So the error would likely have been caused by something outside of the ROS wrapper as changes have not been made to the wrapper recently.

What method did you use to install librealsense and the ROS wrapper on your Jetson, please?

fitzzzzzzzzz commented 1 year ago

Hi @MartyG-RealSense , thank you so much for your quick response.

just a quick question, I am trying to reinstall again from the inputs you have shared above.

I am running this patch script from /scripts/patch-realsense-ubuntu-L4T.sh and I edited few lines like added 35.3.1 L4T version and jetpack as 5.1.1 I am getting a whole lot of errors, do you have any suggestion for that ?

i want to build the librealsense with cuda for ros1 for further use, please help.

MartyG-RealSense commented 1 year ago

If you are able to build librealsense from source code with CMake then using the RSUSB backend installation method avoids the need to use an edited patch script, as RSUSB bypasses the kernel and so it is not necessary to apply a kernel patch script when using RSUSB = true.

RSUSB is enabled by adding the flag -DFORCE_RSUSB_BACKEND=TRUE to the CMake build instruction.

If RSUSB does not work then it is also possible to use librealsense without applying a kernel patch, though the SDK will not provide hardware metadata information.

To enable CUDA support for Jetson in librealsense, you also need to include the flag -DBUILD_WITH_CUDA=TRUE

When CUDA support is enabled in librealsense, it is also automatically applied to the ROS wrapper.

fitzzzzzzzzz commented 1 year ago

thanks a lot, its working for me. @MartyG-RealSense

MartyG-RealSense commented 1 year ago

That's great to hear, @fitzzzzzzzzz - thanks very much for the update!

MartyG-RealSense commented 1 year ago

@MichaelKerley As the creator of this issue, do you require further assistance with it please? Thanks!

fitzzzzzzzzz commented 1 year ago

@MartyG-RealSense I have one question though, what is the latest realsense ros-wrapper for jetpack 5.1. I want to use it with ros1 not with ros 2. could you please help me out, becoz I am facing again above issue again

MartyG-RealSense commented 1 year ago

JetPack 5.0.2 is supported by librealsense 2.54.1 but not JetPack 5.1. A couple of RealSense users have tried editing the L4T kernel patch script to add 5.1 support themselves but it didn't work out.

So for 5.1 users I would recommend either not applying the kernel patch or build librealsense from source code with CMake with the -DFORCE_RSUSB_BACKEND=TRUE flag included in the CMake build instruction in order to bypass the kernel.

As you are using ROS1 and so librealsense 2.51.1 is the newest version that should be used with the ROS1 wrapper, not applying a kernel patch or using an RSUSB = true build of librealsense will work best for you if you have to use JetPack 5.1 on your Jetson.

fitzzzzzzzzz commented 1 year ago

Ok @MartyG-RealSense , I have actually followed your advice and built with RSUSB = true and cuda, which was successful.

i used librealsense 2.50 and ros-wrapper 2.3.2, but I am getting this errors of

hwwom commando*80(5 0 0 0 ) failed (response -7= HW not ready ) and undefined symbol : _ZN2Cv3MatC1Ev

any advice, on what might be wrong

MartyG-RealSense commented 1 year ago

undefined symbol : _ZN2Cv3MatC1Ev is a difficult error to resolve. A Jetson case at https://github.com/IntelRealSense/realsense-ros/issues/2326#issuecomment-1107658481 suggests a solution.

The most recent previous case of the error hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready) at https://github.com/IntelRealSense/realsense-ros/issues/2588 was apparently due to a mismatch between librealsense and ROS1 wrapper versions. Can you confirm that it is librealsense 2.50.0 that you have got installed, please?

fitzzzzzzzzz commented 1 year ago

yes I have installed librealsense 2.50.0 with ros wrapped of 2.3.2

System: Jetpack 5.1.1, L4T:35.3.1, ubuntu 20.04, cuda=yes. must need: ROS1 You can suggest me any other compatible versions, I will try that if anything is wrong with this version.

thank you @MartyG-RealSense

PS: I have tried this already: https://github.com/IntelRealSense/realsense-ros/issues/2326#issuecomment-1107658481 doesn't work for my setup.

MartyG-RealSense commented 1 year ago

You could try Ubuntu 18.04 and JetPack 4.6.

fitzzzzzzzzz commented 1 year ago

okay thats the last option i hoped to try :(

MartyG-RealSense commented 1 year ago

The only other solution may be to completely wipe your Jetson storage and install everything fresh from the beginning. Ubuntu 20.04 and Jetson 5.1 (if you need 5.1) and then librealsense, ROS1 and the ROS wrapper in that order. Sometimes a fresh install will clear previously unsolvable problems by removing a hidden glitch somewhere in the system.

sezarxray commented 1 month ago

any comment from repo owner??????