[BUG]d435i works, but not completely on NX devkit

[AndreV84]

Describe the issue Please describe the issue I tried both building from sources [ in which case it wouldn't run rs-distance] and apt installation [ in which case some of examples worked, but not reasense viewer] What version of L4T/JetPack L4T/JetPack version: 4.4

Which Intel RealSense camera(s) RealSense camera(s):d435i

To Reproduce Steps to reproduce the behavior: For example, what command line did you run? for source code build installation rs-distance won't work for apt installation other examples won't run, but rs-distance works

Expected behavior realsense-viewer is expected to work both in case with installation from apt repository and from sources; Moreover, other graphical examples would be anticipated to work also Additional context Have you had a chance to try D400x series on NX?

[patrickpoirier51]

Having same issue, standing by for tests

[AndreV84]

actually after upgrading the firmware to the latest realsense-viewer seems to work better; However, there are still some complications with ros zed wrapper docker container standalone node

[patrickpoirier51]

There is an issue with the UVC driver and the Kernel, even with latest RealSense-viewer you need to hiave to reset between modes

[patrickpoirier51]

@jetsonhacks are you working on an update for the XAVIER NX Kernel patch so it can work with Realsense UVC , as the apt get librealsense-dkms does not work ?

Would the old XAVIER method of building kernel could be used?

[AndreV84]

@patrickpoirier51 did you try upgrade the firmware of the camera? after the upgrade there shouldn't be no issues, in my opinion

[patrickpoirier51]

@AndreV84 Yes I did, Not having the kernel patched for UVC makes it impossible to properly work with the camera

The RealSense-viewer do reset the hardware in order to get the camera connected, but that is impractical for other applications , namely python

[patrickpoirier51]

@AndreV84 just to make sure, i have firmware release 05.12.03.00 on camera

[AndreV84]

5.12.5.0 is the latest, I believe https://www.intelrealsense.com/download/11232/?_ga=2.160502397.1537282655.1592577394-1689438527.1589854667

[patrickpoirier51]

@AndreV84 ok thanks, just updated (with my I7 based PC) and tried on Xavier NX Here is a sequence that can make it crash rs-pointcloud ctrl-c and then call rs-depth and then ctrl-c and call rs-pointcloud again

The application crash -need to FORCE QUIT- and DMESG shows: attempt power cycle [ 1556.606838] usb 2-3.4: Device not responding to setup address. [ 1556.814884] usb 2-3.4: Device not responding to setup address. [ 1557.021654] usb 2-3.4: device not accepting address 111, error -71 [ 1557.350923] usb 2-3.4: Device not responding to setup address. [ 1557.558891] usb 2-3.4: Device not responding to setup address. [ 1557.765633] usb 2-3.4: device not accepting address 112, error -71 [ 1557.766552] usb 2-3-port4: unable to enumerate USB device [ 1558.242842] usb 2-3.4: Device not responding to setup address. [ 1558.450833] usb 2-3.4: Device not responding to setup address. [ 1558.657682] usb 2-3.4: device not accepting address 113, error -71 [ 1558.986832] usb 2-3.4: Device not responding to setup address. [ 1559.194826] usb 2-3.4: Device not responding to setup address. [ 1559.401649] usb 2-3.4: device not accepting address 114, error -71

Need to disconnect - reconnect to make it work again

[AndreV84]

@patrickpoirier51 did you update the firmware to 5.12.5 ?

[patrickpoirier51]

Yes, I did, just updated (with my I7 based PC) and tried on Xavier NX

[AndreV84]

sigh; most of the issues with restarting the camera application should have been gone by the upgrade, as far as I know; I can not test it at the moment; but will try to do so when I have access to the hardware

[AndreV84]

I used to upgrade the firmware from Jetson with rs-fw-update

[patrickpoirier51]

I used the realsense-viewer , its quite the same

[patrickpoirier51]

rs-fw-update -l

connected devices: 1) Name: Intel RealSense D435I, serial number: 938422076009, update serial number: 926623051511, firmware version: 05.12.05.00, USB type: 3.2

[mzahana]

@patrickpoirier51 Nice to see you here. It's been long time!

I would like to use the D435i with Xavier NX, but in a ROS environment inside a docker container. Are there some instructions on how to that, or at least how to setup the Librealsense such that D435i works properly with NX?

Thanks.

[patrickpoirier51]

@mzahana hello

Unfortunately I havent tried if Realsense dos behave correctly within docker on JetPack. Looking on google , we can find this one that may get you jumpstarted https://broerkens.de/RACECARX/docs/software/jetson_docker

[mzahana]

@patrickpoirier51 thank you very much! I will give it a try and share my findings