search

IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
7.64k stars 4.83k forks source link

Nvidia Xavier NX Kernel Patching Hunk #1 FAILED at 1262 & 641 issue: New Solution Required #8254

Closed dlee640 closed 3 years ago

dlee640 commented 3 years ago
Required Info
Camera Model { D435 }
Firmware Version (Open RealSense Viewer --> Click info)
Operating System & Version {Ubuntu 18.04}
Kernel Version (Linux Only) {4.9 Tegra}
Platform {NVIDIA Xavier NX}
SDK Version { 2.41.0 }
Language {C++/Python }
Segment {Robot}

Issue Description

I have the same issue that has been posted in #8079 by @xxEoD2242. The ultimate solution recommended was to reflash the Xavier with Jetpack 4.4.

However, I have 4.4.1 and I cannot reflash the Xavier since the system is mounted within the robot and I do not want to dissect the hardware.

Is there a different method such as building it from RSUSB backened? Can someone guide me to a direction for not requiring a kernel?

Or does someone know how to downgrade jetpack version without having to reflash the drive?

Thank you.

More details:

My error:

Apply Librealsense Kernel Patches
patching file drivers/media/usb/uvc/Makefile
patching file drivers/media/usb/uvc/uvc_driver.c
Hunk #1 succeeded at 764 with fuzz 2 (offset 595 lines).
patching file drivers/media/usb/uvc/uvcvideo.h
Hunk #1 succeeded at 392 with fuzz 2 (offset 254 lines).
patching file drivers/media/v4l2-core/v4l2-ioctl.c
Hunk #1 FAILED at 1262.
1 out of 1 hunk FAILED -- saving rejects to file drivers/media/v4l2-core/v4l2-ioctl.c.rej
patching file include/uapi/linux/videodev2.h
Hunk #1 FAILED at 641.
1 out of 1 hunk FAILED -- saving rejects to file include/uapi/linux/videodev2.h.rej

My jetpack version:

unitree@nx:~/librealsense$ sudo apt-cache show nvidia-jetpack
Package: nvidia-jetpack
Version: 4.4.1-b50
Architecture: arm64
Maintainer: NVIDIA Corporation
Installed-Size: 194
Depends: nvidia-cuda (= 4.4.1-b50), nvidia-opencv (= 4.4.1-b50), nvidia-cudnn8 (= 4.4.1-b50), nvidia-tensorrt (= 4.4.1-b50), nvidia-visionworks (= 4.4.1-b50), nvidia-container (= 4.4.1-b50), nvidia-vpi (= 4.4.1-b50), nvidia-l4t-jetson-multimedia-api (>> 32.4-0), nvidia-l4t-jetson-multimedia-api (<< 32.5-0)
Homepage: http://developer.nvidia.com/jetson
Priority: standard
Section: metapackages
Filename: pool/main/n/nvidia-jetpack/nvidia-jetpack_4.4.1-b50_arm64.deb
Size: 29412
SHA256: ec502e1e3672c059d8dd49e5673c5b2d8c606584d4173ee514bbc4376547a171
SHA1: 75a405f1ad533bfcd04280d1f9b237b880c39be5
MD5sum: 1267b31d8b8419d9847b0ec4961b15a4
Description: NVIDIA Jetpack Meta Package
Description-md5: ad1462289bdbc54909ae109d1d32c0a8

Package: nvidia-jetpack
Version: 4.4-b186
Architecture: arm64
Maintainer: NVIDIA Corporation
Installed-Size: 194
Depends: nvidia-cuda (= 4.4-b186), nvidia-opencv (= 4.4-b186), nvidia-cudnn8 (= 4.4-b186), nvidia-tensorrt (= 4.4-b186), nvidia-visionworks (= 4.4-b186), nvidia-container (= 4.4-b186), nvidia-vpi (= 4.4-b186), nvidia-l4t-jetson-multimedia-api (>> 32.4-0), nvidia-l4t-jetson-multimedia-api (<< 32.5-0)
Homepage: http://developer.nvidia.com/jetson
Priority: standard
Section: metapackages
Filename: pool/main/n/nvidia-jetpack/nvidia-jetpack_4.4-b186_arm64.deb
Size: 29376
SHA256: 7f90f2def712d993bd84855355aec47a1b63ae54edefcbf4c963dbe0cb6fbf92
SHA1: bd1f0b05adbdf8f0df4dce4f655bb9615172594f
MD5sum: f9d2f9a9dfee794ef361b1bd1ec38130
Description: NVIDIA Jetpack Meta Package
Description-md5: ad1462289bdbc54909ae109d1d32c0a8

Package: nvidia-jetpack
Version: 4.4-b144
Architecture: arm64
Maintainer: NVIDIA Corporation
Installed-Size: 195
Depends: nvidia-container-csv-cuda (= 10.2.89-1), libopencv-python (= 4.1.1-2-gd5a58aa75), libvisionworks-sfm-dev (= 0.90.4.501), libvisionworks-dev (= 1.6.0.501), libnvparsers7 (= 7.1.0-1+cuda10.2), libnvinfer-plugin-dev (= 7.1.0-1+cuda10.2), libnvonnxparsers7 (= 7.1.0-1+cuda10.2), libnvinfer-samples (= 7.1.0-1+cuda10.2), libnvinfer-bin (= 7.1.0-1+cuda10.2), libvisionworks-samples (= 1.6.0.501), libvisionworks-tracking-dev (= 0.88.2.501), vpi-samples (= 0.2.0), tensorrt (= 7.1.0.16-1+cuda10.2), libopencv (= 4.1.1-2-gd5a58aa75), libnvinfer-doc (= 7.1.0-1+cuda10.2), libnvparsers-dev (= 7.1.0-1+cuda10.2), libnvidia-container0 (= 0.9.0beta.1), nvidia-container-csv-visionworks (= 1.6.0.501), cuda-toolkit-10-2 (= 10.2.89-1), graphsurgeon-tf (= 7.1.0-1+cuda10.2), libcudnn8 (= 8.0.0.145-1+cuda10.2), libopencv-samples (= 4.1.1-2-gd5a58aa75), nvidia-container-csv-cudnn (= 8.0.0.145-1+cuda10.2), python-libnvinfer-dev (= 7.1.0-1+cuda10.2), libnvinfer-plugin7 (= 7.1.0-1+cuda10.2), libvisionworks (= 1.6.0.501), libcudnn8-doc (= 8.0.0.145-1+cuda10.2), nvidia-container-toolkit (= 1.0.1-1), libnvinfer-dev (= 7.1.0-1+cuda10.2), nvidia-l4t-jetson-multimedia-api (>> 32.4-0), nvidia-l4t-jetson-multimedia-api (<< 32.5-0), libopencv-dev (= 4.1.1-2-gd5a58aa75), vpi-dev (= 0.2.0), vpi (= 0.2.0), libcudnn8-dev (= 8.0.0.145-1+cuda10.2), python3-libnvinfer (= 7.1.0-1+cuda10.2), python3-libnvinfer-dev (= 7.1.0-1+cuda10.2), opencv-licenses (= 4.1.1-2-gd5a58aa75), nvidia-container-csv-tensorrt (= 7.1.0.16-1+cuda10.2), libnvinfer7 (= 7.1.0-1+cuda10.2), libnvonnxparsers-dev (= 7.1.0-1+cuda10.2), uff-converter-tf (= 7.1.0-1+cuda10.2), nvidia-docker2 (= 2.2.0-1), libvisionworks-sfm (= 0.90.4.501), libnvidia-container-tools (= 0.9.0beta.1), nvidia-container-runtime (= 3.1.0-1), python-libnvinfer (= 7.1.0-1+cuda10.2), libvisionworks-tracking (= 0.88.2.501)
Conflicts: cuda-command-line-tools-10-0, cuda-compiler-10-0, cuda-cublas-10-0, cuda-cublas-dev-10-0, cuda-cudart-10-0, cuda-cudart-dev-10-0, cuda-cufft-10-0, cuda-cufft-dev-10-0, cuda-cuobjdump-10-0, cuda-cupti-10-0, cuda-curand-10-0, cuda-curand-dev-10-0, cuda-cusolver-10-0, cuda-cusolver-dev-10-0, cuda-cusparse-10-0, cuda-cusparse-dev-10-0, cuda-documentation-10-0, cuda-driver-dev-10-0, cuda-gdb-10-0, cuda-gpu-library-advisor-10-0, cuda-libraries-10-0, cuda-libraries-dev-10-0, cuda-license-10-0, cuda-memcheck-10-0, cuda-misc-headers-10-0, cuda-npp-10-0, cuda-npp-dev-10-0, cuda-nsight-compute-addon-l4t-10-0, cuda-nvcc-10-0, cuda-nvdisasm-10-0, cuda-nvgraph-10-0, cuda-nvgraph-dev-10-0, cuda-nvml-dev-10-0, cuda-nvprof-10-0, cuda-nvprune-10-0, cuda-nvrtc-10-0, cuda-nvrtc-dev-10-0, cuda-nvtx-10-0, cuda-samples-10-0, cuda-toolkit-10-0, cuda-tools-10-0, libcudnn7, libcudnn7-dev, libcudnn7-doc, libnvinfer-plugin6, libnvinfer6, libnvonnxparsers6, libnvparsers6
Homepage: http://developer.nvidia.com/jetson
Priority: standard
Section: metapackages
Filename: pool/main/n/nvidia-jetpack/nvidia-jetpack_4.4-b144_arm64.deb
Size: 30376
SHA256: 0556dbf2044a9d12e2c26e1a342033d4816f5d84f87dfe7a82916449249bb04b
SHA1: 38e788c5cd84b3e4bd956dcd7c9e018276e17b18
MD5sum: 0a96d0fa91591f10b7c86022d068970d
Description: NVIDIA Jetpack Meta Package
Description-md5: ad1462289bdbc54909ae109d1d32c0a8
MartyG-RealSense commented 3 years ago

Hi @dlee640 The link below leads to a guide for using the RSUSB method to build librealsense and the Python wrapper from source code at the same time on Jetson. It has been tested successfully with Nano and Xavier NX.

https://github.com/IntelRealSense/librealsense/issues/7905#issuecomment-737544294

dlee640 commented 3 years ago

@MartyG-RealSense Thank you for your time to respond, but I don't think your response regarding python wrapper addresses my question correctly. (Or maybe my understanding is incorrect, and needs more detail :))

I do have Realsense SDK working properly. My issue is getting the ROS-wrapper to run on the Tegra 4.9 Linux system, since the 4.9 isn't one of the kernel that supports ROS-wrapper. We tried to address this by following the [instruction here](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md). We decided to use 'Building from Source using Native Backend' method, but this method only works for Jetpack version 4.4. We have 4.4.1, which throws HUNK error and we cannot revert back since the SD card slot is off the reach. Thus, we need more detail on 'Building from Source using RSUSB Backend' method also detailed in the document.

MartyG-RealSense commented 3 years ago

I researched the question of the possibility of changing JetPack version without reflashing. Multiple sources said that reflashing was necessary up until JetPack 4.3, but from 4.3 onwards an APT server that houses JetPack packages was introduced.

Regarding your request for more documentation about RSUSB backend: I would recommend using the method on building from source with CMake that I linked to earlier:

https://github.com/IntelRealSense/librealsense/issues/8254#issuecomment-768999439

If you want to investigate the possibility of building using the libuvc_installation.sh script mentioned in the Jetson instructions, further details about use of this script can be found here:

https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md

AlexKaravaev commented 3 years ago

Is it going to be fixed in future releases?

ev-mp commented 3 years ago

@AlexKaravaev , this task is already prioritized in the backlog. I cannot provide exact timeline but patches for JetPack 4.4.1 will be available within weeks.

dlee640 commented 3 years ago

Thank you all for your help. This issue has been resolved by deleting the liberalsense installation and reinstalling ros-wrapper. However, I am excited for Jetpack 4.4.1 patches!

MartyG-RealSense commented 3 years ago

Thanks very much @dlee640 for the update - great to hear that you made progress!

Andrea2202 commented 3 years ago

Hi, all! Any updates on the patch for Jetpack 4.4.1?

Thanks

ev-mp commented 3 years ago

@Andrea2202 , @dlee640, @AlexKaravaev the patches for 4.4.1 and 4.5 have been recently merged into development branch via #8366. You can try it from there - feedbacks will be appreciated.

Actually, there even more good news as with the release of v4.4.1, NVidia has apparently integrated the kernel patches for specific RealSense devices, including D415 and D435(i), into L4T. So those models' owners can now receive the full capabilities of the Depth camera including formats and metadata using the native Tegra kernel (no need for patches).

AndreV84 commented 3 years ago

@MartyG-RealSense Could you extend on kernel patching for JetsonNX for d455, please?

MartyG-RealSense commented 3 years ago

@AndreV84 What aspect of NX kernel patching do you want to know about please?

AndreV84 commented 3 years ago

@MartyG-RealSense we are looking to get d455 on Jetson with slamcore; They pointed out to complex Jetsopn kernel patching briefly as per their statement jetsonNX "doesn't fully support d455' unless patched

MartyG-RealSense commented 3 years ago

I located a guide from October 2020 for installing a D455 on Jetson NX, auto-translated it into English and have attached it to this message as a PDF called NX-D455.

Here is the link to the original version.

https://dev.classmethod.jp/articles/use-realsense-d455-with-jetson-xavier-nx/

NX-D455.pdf

AndreV84 commented 3 years ago

@MartyG-RealSense The situation is as follows if realsense sdk gets installed from apt repository it won't see d455 However if I install realsense from sources it will see d455 Moreover, I found some issue importing pyrealsense2 into python from any other folder than /usr/local/lib/python3.6/pyrealsense2 However the slamcore won't pick up the realsense sdk built from sources but would work with realsense sdk from apt repository

MartyG-RealSense commented 3 years ago

So long as the librealsense version is 2.38.1 or newer then it should officially support D455. A RealSense-compatible non SDK software product may need to specifically add support for a particular camera model though.

What SDK version is installed when you are installing from apt repository please?

Also, do you experience the same problem with source-code building if you use the latest 2.47.0 librealsense version?

AndreV84 commented 3 years ago

@MartyG-RealSense Their team pointed out that 2.41 realsense-viewer on NX Jetson returns the following message

Per-frame metadata is not enabled at the OS level; Please follow the installation guide for details

you will see that if you inspect the metadata, the 'Per-frame metadata is not enabled'. This metadata is essential for us to align the IMU and image sensor datastreams
AndreV84 commented 3 years ago

after more reinstallations of 2.41.0 from apt repository [ it i sth elatest versions fir arm arch64 availavle; it gets detected in realsense viewer but when enabling stereo module it would show errors, though it would show rgb stream


realsense-viewer 
 10/06 16:34:15,976 ERROR [547826405824] (http-downloader.cpp:141) Download error from URL: http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/rs_versions_db.json, error info: HTTP response code said error
 10/06 16:34:21,507 ERROR [548085616656] (types.h:313) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error
 10/06 16:35:21,458 ERROR [548085616656] (types.h:313) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error
 10/06 16:35:26,958 WARNING [547826405824] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
 10/06 16:35:32,845 ERROR [548085616656] (types.h:313) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error
 10/06 16:35:50,840 WARNING [548085616656] (ds5-motion.cpp:477) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 10/06 16:35:50,848 WARNING [547692970432] (backend-hid.cpp:715) HID set_power 1 failed for /sys/devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.5/0003:8086:0B5C.0001/HID-SENSOR-200073.1.auto/iio:device2/buffer/enable
 10/06 16:36:17,723 ERROR [548085616656
MartyG-RealSense commented 3 years ago

2.41.0 dates back to before Intel changed the links for the apt repos from http to https in March 2021 (which is likely the cause of the 'Download error from URL' line in the log above).

AndreV84 commented 3 years ago

@MartyG-RealSense with 2.47 built from sources


realsense-viewer
 10/06 17:51:29,011 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,011 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,011 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,011 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,012 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,012 WARNING [547757903648] (messenger-libusb.cpp:42) control_transfer returned error, index: 1, error: No data available, number: 3d
 10/06 17:51:29,012 ERROR [547885088784] (uvc-device.cpp:862) Probe-commit control transfer failed with error: RS2_USB_STATUS_PIPE
MartyG-RealSense commented 3 years ago

The last error in the list is likely a consequence of the preceding control_transfer returned warnings, which can indicate that there is a serious communication problem with the device if they are generating continuously.

Which firmware version is your camera currently using please?

AndreV84 commented 3 years ago

@MartyG-RealSense 

 firmware version: 05.12.06.00

slamcore seems only supports camera firmware versions 5.12.3.0, 5.12.6.0, 5.12.7.100, 5.12.8.200 or 5.12.11.0.

MartyG-RealSense commented 3 years ago

I would suggest upgrading to the most recent version on that list (5.12.11.0) if you are using a very recent SDK like 2.47.0.

AndreV84 commented 3 years ago

@MartyG-RealSense with sdk from sources 2.41 with 5.12.11.0

Backend rs2_open_multiple sensor:0x559e1e1310, profiles:0x559e2c2df0, count:2
...
10/06 18:55:15,317 ERROR [548147507216] (types.h:315) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error
Input/output error
Error parsing config: Input/output error

with 2.41.0 from apt with same firmware:

realsense-viewer 
 10/06 19:03:02,109 ERROR [547834798528] (http-downloader.cpp:141) Download error from URL: http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/rs_versions_db.json, error info: HTTP response code said error
 10/06 19:03:13,305 ERROR [548092878864] (types.h:313) xioctl(VIDIOC_S_FMT) failed Last Error: Input/output error

with 5.12.11.0 2.47.0 would show multiple errors also with 5/12/11/- firmware

MartyG-RealSense commented 3 years ago

Once a RealSense installation has this many problems then I believe that it is better to start fresh with a clean Ubuntu installation than try to fix the existing one and deal with continuous different errors.

AndreV84 commented 3 years ago

we just installed ubuntu yesterday to try d455 with slamcore we could reflash it again

AndreV84 commented 3 years ago

@MartyG-RealSense after reinstalling Ubuntu On clean install installed from apt repository 2.41.0

realsense-viewer 
 10/06 21:42:23,278 ERROR [547381821888] (http-downloader.cpp:141) Download error from URL: http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/rs_versions_db.json, error info: HTTP response code said error
 10/06 21:42:29,778 WARNING [547381821888] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
 10/06 21:42:30,452 WARNING [547365036480] (hdr-merge.cpp:38) HDR Merge filter cannot process frames because relevant metadata params are missing

what about meta params missed?

AndreV84 commented 3 years ago 

realsense-viewer 
 10/06 21:46:16,981 ERROR [548145164736] (http-downloader.cpp:141) Download error from URL: http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/rs_versions_db.json, error info: HTTP response code said error
 10/06 21:46:34,477 WARNING [548145164736] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
 10/06 21:46:35,188 WARNING [548136772032] (hdr-merge.cpp:38) HDR Merge filter cannot process frames because relevant metadata params are missing
 10/06 21:46:42,514 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:42,515 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:44,398 ERROR [548195520960] (error-handling.cpp:76) Error during polling error handler: get_xu(id=7) failed! Last Error: Input/output error
 10/06 21:46:44,404 ERROR [548291658176] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Input/output error
 10/06 21:46:47,518 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:47,519 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:50,539 ERROR [548195520960] (error-handling.cpp:76) Error during polling error handler: get_xu(id=7) failed! Last Error: Input/output error
 10/06 21:46:50,545 ERROR [548291658176] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Input/output error
 10/06 21:46:52,520 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:52,521 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:56,684 ERROR [548195520960] (error-handling.cpp:76) Error during polling error handler: get_xu(id=7) failed! Last Error: Input/output error
 10/06 21:46:56,689 ERROR [548291658176] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Input/output error
 10/06 21:46:57,522 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:46:57,523 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:47:02,526 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:47:02,527 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:47:02,842 ERROR [548291658176] (global_timestamp_reader.cpp:239) Error during time_diff_keeper polling: set_xu(ctrl=1) failed! Last Error: Input/output error
 10/06 21:47:02,848 ERROR [548195520960] (error-handling.cpp:76) Error during polling error handler: get_xu(id=7) failed! Last Error: Input/output error
 10/06 21:47:07,529 WARNING [548119990720] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
 10/06 21:47:07,530 WARNING [548145164736] (backend-v4l2.cpp:1122) Frames didn't arrived within 5 seconds
AndreV84 commented 3 years ago

so it got broken instantly

AndreV84 commented 3 years ago

after reboot it won't discover the camera at all

AndreV84 commented 3 years ago

after powering off/on the unit we got realsense viewer somehow working but for this error


Per-frame metadata is not enabled at the OS level; Please follow the installation guide for details
AndreV84 commented 3 years ago

Screenshot from 2021-06-11 01-41-53

AndreV84 commented 3 years ago

how to patch this in the OS for the apt installed realsense-sdk?

MartyG-RealSense commented 3 years ago

@AndreV84 If the current problem is that you need to add per-frame metadata on a librealsense build installed from packages on Jetson: my understanding is that metadata support is provided by default when using the regular Debian packages for x86/x64, but I am not certain the same is true for the Jetson packages, and people on the JetsonHacks and Nvidia forums have reported problems with metadata support.

Installing via RSUSB or kernel-patching a source-code build should provide metadata support, but I understand that doing so has problems for your slamcore compatibility.

AndreV84 commented 3 years ago

@MartyG-RealSense could you extend what is exactly 

 kernel-patching a source-code build

please?

MartyG-RealSense commented 3 years ago

Kernel-patching a source code build on Jetson is covered in the Building from Source using Native Backend section of the official Jetson installation instructions:

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#building-from-source-using-native-backend

AndreV84 commented 3 years ago

@MartyG-RealSense does the apt version work after applying the patch kernel modules script or it still will need to be sdk built from sources? rsusb did not work for ttheir software according to my tyests it worked for realsense viewer though

MartyG-RealSense commented 3 years ago

On x86/x64 systems at least, package and source code installs are two separate installations. If you perform both on the same computer then you can end up with a Multiple udev rules warning and have to manually remove one of the rules to make the warning disappear.

AndreV84 commented 3 years ago

@MartyG-RealSense could you extend on patching, please? Which exactly modules need to be build for the kernel? the patch scriopt seems failed


Apply Librealsense Kernel Patches
patching file drivers/media/usb/uvc/Makefile
patching file drivers/media/usb/uvc/uvc_driver.c
Hunk #1 succeeded at 254 with fuzz 2 (offset 85 lines).
patching file drivers/media/usb/uvc/uvcvideo.h
Hunk #1 succeeded at 122 with fuzz 2 (offset -16 lines).
patching file drivers/media/v4l2-core/v4l2-ioctl.c
Hunk #1 FAILED at 1262.
1 out of 1 hunk FAILED -- saving rejects to file drivers/media/v4l2-core/v4l2-ioctl.c.rej
patching file include/uapi/linux/videodev2.h
Hunk #1 FAILED at 641.
1 out of 1 hunk FAILED -- saving rejects to file include/uapi/linux/videodev2.h.rej
MartyG-RealSense commented 3 years ago

It looks like the same hunk errors that were reported by dlee640 at the beginning of this case. The key difference in your situation is the need to use a camera configuration that is compatible with SLAMcore, and that dlee640 used RSUSB (which will not work with your SLAMcore setup).

A case in the link below that experienced these errors on Jetson AGX when kernel patching offers advice for resolving the problem.

https://github.com/IntelRealSense/librealsense/issues/7987

AndreV84 commented 3 years ago

seems somehow patched

Copying the patched modules to (~/) 

Move the modified modules into the modules tree
Insert the modified kernel modules
Replacing uvcvideo  -
Module is resident, unloading ...  succeeded. 
    Applying the patched module ...  succeeded

Script has completed. Please consult the installation guide for further instruction.

so it should work with apt installed realsense, right?

MartyG-RealSense commented 3 years ago

It looks as though the patching process completed. And you still do not have metadata support?

AndreV84 commented 3 years ago

realsense viewer [ 2.41 built from sources with te instruction from patch doesnt see the camera realsense viewer from apt repository do not show meta frameerror after patching but the intended application seems won't work either

AndreV84 commented 3 years ago

seems we got the thing working on JP 4.4.1 trying to figure out if we could have newest Jetpack 4.5.1

MartyG-RealSense commented 3 years ago

Great to hear that you made significant progress @AndreV84 :)

AndreV84 commented 3 years ago

it seems we shoud be able to repeat on newest Jetpack release as I was able to patch Jetson with Jetpack 4.5.1

opying the patched modules to (~/) 
/home/nvidia/librealsense
Move the modified modules into the modules tree
Insert the modified kernel modules
Replacing uvcvideo  -
    Applying the patched module ...  succeeded

Script has completed. Please consult the installation guide for further instruction.

if it was as easy at countries borders with visas as it works with realsense cameras it would be a relief

AndreV84 commented 3 years ago

while patch applied to JP 4 5 1 uses version of patch 4.4.1 it would return that it suceeded, bu twhen trying to run the software it wouldn't be able to access usb hid devices; so maybe librealsense patch doesn't support 4.5.1 Jetpack actually?

AndreV84 commented 3 years ago

@MartyG-RealSense Could you help out figuring out solution for Jetpack 4.5.1, please? With using the default installed from apt repository realsense 2.48.0 package we are getting the metaframe missed situation

AndreV84 commented 3 years ago

it applies patch of version 4.4.1 to version 4.5.1 that won't work


Jetson Board (proc/device-tree/model): NVIDIA Jetson Xavier NX Developer Kit
Jetson L4T version: 32.5.1
L4T 32.5.1 to use patches revision 4.4.1
AndreV84 commented 3 years ago

@MartyG-RealSense how we could get new release of the patch for newer version?

AndreV84 commented 3 years ago

@MartyG-RealSense Please disregard; all worked