Intel RealSense D455 Connectivity Issues with Jetson Orin Nano Developer Kit

Issue Overview

Users are experiencing connectivity issues with the Intel RealSense D455 camera when using it with the Jetson Orin Nano Developer Kit. The primary symptoms include frequent disconnections of the camera, making it undetectable by both the RealSense Viewer and the Visual SLAM libraries in ROS 2. This problem arises despite successful operation of the camera on a standard Ubuntu PC where ROS 2 is installed. The issue occurs intermittently, with the camera being recognized for a few minutes before disconnecting. Users have confirmed that all necessary software downloads and firmware updates have been completed according to documentation, yet the problem persists, significantly impacting their ability to utilize the camera for visual SLAM applications.

Possible Causes

• Hardware Incompatibilities: The Jetson Orin Nano may not fully support the Intel RealSense D455 due to differences in power requirements or data transfer capabilities.
• Software Bugs or Conflicts: There may be unresolved bugs in the JetPack version being used or incompatibilities with ROS 2 libraries.
• Configuration Errors: Incorrect settings in ROS 2 or misconfigured camera parameters could lead to detection issues.
• Driver Issues: Outdated or incompatible drivers for the RealSense camera may cause connectivity problems.
• Environmental Factors: Power supply issues or overheating could lead to unstable operation of the camera.
• User Errors or Misconfigurations: Incorrect setup procedures or failure to follow installation guidelines could contribute to the problem.

Troubleshooting Steps, Solutions & Fixes

1. Check Power Supply:

   • Ensure that the Jetson Orin Nano is powered by a compatible 19V power supply. Insufficient power can cause hardware instability.

2. Update Firmware and Software:

   • Verify that both the Jetson Orin Nano and Intel RealSense D455 firmware are up-to-date. Use the following command to check for updates:

     sudo apt update && sudo apt upgrade
     

3. Install Required Packages:

   • Make sure all necessary packages for RealSense and ROS 2 are installed. This can include librealsense and ros-<distro>-realsense2-camera.
   • Install missing packages using:

     sudo apt install ros-<distro>-realsense2-camera
     

4. Test Camera Connection:

   • Use v4l2-ctl to check if the camera is recognized by the system:

     v4l2-ctl --list-devices
     

   • If not detected, try reconnecting the camera or testing it on another device.

5. Run Diagnostic Commands:

   • Check system logs for errors related to USB devices:

     dmesg | grep usb
     

6. Isolate Hardware Issues:

   • Test with different USB ports on the Jetson board or use a powered USB hub to ensure adequate power supply to the camera.

7. Configuration Adjustments:

   • Review and adjust configuration settings in ROS 2 for RealSense integration. Ensure that parameters such as frame rate and resolution are compatible with what the Jetson can handle.

8. Use Alternative Software Versions:

   • If using JetPack 6, consider downgrading to JetPack 5.x, as some users have reported better stability with this version.

9. Consult Documentation and Community Forums:

   • Refer to NVIDIA’s official documentation for troubleshooting tips specific to Jetson boards and RealSense cameras.
   • Engage in community forums for additional insights from users who may have faced similar issues.

10. Monitor Temperature and Performance:

    • Ensure that the Jetson Orin Nano is adequately cooled during operation, as overheating can lead to performance degradation.

11. Firmware Upgrade Instructions:

    • If firmware updates are needed, follow these steps:
      1. Download firmware from Intel’s official site.
      2. Follow instructions specific to updating RealSense firmware.

12. Best Practices for Future Use:

    • Regularly check for updates on both hardware and software components.
    • Maintain proper cooling solutions when operating under heavy loads.

By following these troubleshooting steps, users should be able to diagnose and potentially resolve connectivity issues between their Intel RealSense D455 camera and Jetson Orin Nano Developer Kit. Further investigation may be necessary if problems persist after these solutions have been attempted.