Connecting Intel RealSense Depth Camera D455 to Jetson Orin Nano 8GB

Issue Overview

Users are experiencing difficulties connecting the Intel RealSense Depth Camera D455 to the Jetson Orin Nano 8GB module. Symptoms include:

• Inability to establish a connection with the camera despite following the official Intel RealSense SDK documentation.
• Errors such as "no device detected" when running commands like rs-enumerate-devices, even though the camera appears connected via USB (verified with lsusb).
• Reports of long response times or non-responsiveness when executing scripts like python3 ./realsense.py.
• The issue seems to occur during setup and testing of the camera with various software configurations, including JetPack versions.

The problem is noted to be inconsistent, with some users reporting success while others face persistent failures. The impact on user experience is significant, as it hinders the development and testing of applications that rely on depth sensing capabilities.

Possible Causes

1. Driver Issues: The version of the RealSense driver (v2.50.0) may not support the D455 camera, leading to connectivity problems.
2. Software Bugs: Incompatibilities between the JetPack version (e.g., JetPack 6.0) and the RealSense SDK could cause failures in establishing a connection.
3. Configuration Errors: Incorrect installation or configuration of dependencies and drivers may prevent proper communication with the camera.
4. Environmental Factors: Power supply issues or USB port malfunctions could affect device recognition.
5. User Errors: Misconfigurations during setup, such as failing to follow detailed installation steps or not updating kernel headers, may lead to issues.

Troubleshooting Steps, Solutions & Fixes

1. Verify Driver Installation:

   • Ensure you have installed the correct version of the RealSense SDK that supports D455:

     wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.50.0.tar.gz
     tar xpf v2.50.0.tar.gz && cd librealsense-2.50.0
     ./scripts/setup_udev_rules.sh
     

2. Install Dependencies:

   • Run the following command to install necessary packages:

     sudo apt update && sudo apt install -y --no-install-recommends build-essential cmake git libbullet-dev libpython3-dev \
     libasio-dev libtinyxml2-dev libcunit1-dev libboost-python-dev libgtk-3-dev libcurl4-openssl-dev libcurl4 libssl-dev \
     libusb-1.0-0-dev pkg-config libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev vim htop sudo python3-pip
     

3. Build and Install from Source:

   • If issues persist, consider building from source:

     mkdir build && cd build
     CUDACXX=/usr/local/cuda-11.4/bin/nvcc cmake ../ \
             -DBUILD_PYTHON_BINDINGS:bool=true \
             -DBUILD_WITH_CUDA=true \
             -DFORCE_RSUSB_BACKEND=false \
             -DPYTHON_EXECUTABLE=/usr/bin/python3 \
             -DCMAKE_BUILD_TYPE=Release
     make -j4
     sudo make install
     

4. Check Kernel Compatibility:

   • Ensure that your kernel is compatible with the installed version of RealSense SDK by checking against supported kernel versions listed in the documentation.

5. Test Device Recognition:

   • After installation, verify if the camera is recognized:

     lsusb  # Check if D455 appears in the list
     rs-enumerate-devices  # Should show connected devices if working correctly
     

6. Run Example Scripts:

   • Execute example scripts provided in the SDK to test functionality:

     python3 ./realsense.py  # Monitor for errors or long response times
     

7. Update Firmware:

   • Check if your D455 camera firmware is up to date by visiting Intel’s official support page.

8. Remove Conflicting Libraries:

   • If you encounter permission errors, try removing conflicting libraries:

     sudo rm /usr/lib/aarch64-linux-gnu/tegra/libv4l2_nvargus.so
     

9. Enable IMU Driver:

   • Since D455 has an IMU, ensure that any additional drivers required for IMU functionality are enabled.

10. Seek Community Support:

    • If issues persist, consider reaching out on forums or checking for community posts regarding similar problems and solutions.

Recommended Approach

Building from source has been reported as a successful method by multiple users facing similar issues. Ensure all dependencies are correctly installed and configurations are followed meticulously.

Unresolved Aspects

Some users have reported ongoing difficulties even after following suggested steps, indicating potential gaps in driver support for specific hardware configurations or software versions that may need further investigation from Intel or NVIDIA support teams.