Intel D455 undetected by Jetson Xavier NX #9344

ghost · 2021-07-06T13:00:50Z

Required Info
Camera Model	D400
Firmware Version	05.12.14.50
Operating System & Version	Linux (Ubuntu 18.04)
Kernel Version (Linux Only)	Jetpack 4.4 (L4T 32.4.3)
Platform	NVIDIA Jetson Xavier NX
SDK Version	2.45.0
Language	-
Segment	Robot

After following the guide on installation for Jetson for patching the kernel and building with:

cmake ../ \
    -DBUILD_EXAMPLES=on \
    -DBUILD_GRAPHICAL_EXAMPLES=on \
    -DBUILD_PYTHON_BINDINGS=on \
    -DBUILD_WITH_CUDA=true \
    -DCMAKE_BUILD_TYPE=release \
    -DCMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc \
    -DFORCE_RSUSB_BACKEND=off \
    -DOpenGL_GL_PREFERENCE=GLVND

when I plug my D455, neither realsense-viewer nor rs-enumerate-devices are able to detect the camera.
On the same setup, my T265 is detected.
Also, D455 is detected on PC with the same version of librealsense, so it seems to be a problem specific to Jetson.

The text was updated successfully, but these errors were encountered:

MartyG-RealSense · 2021-07-06T17:31:24Z

Hi @RicLincio The build flags -DBUILD_EXAMPLES and -DBUILD_GRAPHICAL_EXAMPLES determine whether the SDK's examples and tools (including realsense-viewer) and the support for them are built or not when librealsense is installed. If the flags are set to false then the SDK's examples and tools are not included in the build.

If you were building for a 'headless' configuration without graphics then you could set -DBUILD_EXAMPLES to true to include support for text based non-graphical examples and tools such as rs-enumerate-devices, and set -DBUILD_GRAPHICAL_EXAMPLES to false so that examples and tools that use OpenGL graphics (such as the Viewer) are not built. Otherwise, if you want the Viewer to be included in the build then set DBUILD_GRAPHICAL_EXAMPLES to true.

The SDK's Build Configuration documentation provides information about CMake build flags

https://dev.intelrealsense.com/docs/build-configuration

Could you also confirm please that the instruction steps that come before the CMake commands in the Jetson installation guide have been completed, please?

ghost · 2021-07-07T10:12:25Z

Hello @MartyG-RealSense, you're right.
Unfortunately I made I mistake in reporting the cmake configuration. The actual command I used is

cmake ../ \
    -DBUILD_EXAMPLES=on \
    -DBUILD_GRAPHICAL_EXAMPLES=on \
    -DBUILD_PYTHON_BINDINGS=on \
    -DBUILD_WITH_CUDA=true \
    -DCMAKE_BUILD_TYPE=release \
    -DCMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc \
    -DFORCE_RSUSB_BACKEND=off \
    -DOpenGL_GL_PREFERENCE=GLVND

otherwise, as you said yourself, I wouldn't be able to open realsense-viewer or rs-enumerate-devices, which I can do: without those, I wouldn't have been able to report the real problem, i.e. the undetected D455.

MartyG-RealSense · 2021-07-07T17:16:06Z

As you are building with CMake, it may be worth looking at the Jetson installation guide in the link below that installs librealsense from source code along with the Python wrapper and targets Python 3.6 (if you are not using Python 3.6, edit the '3'6' number in the procedure to the Python version number that you are using).

#6964 (comment)

This guide has worked consistently for Jetson users, including Xavier NX, and once solved a case (in the link below) where D455 was not being detected.

#7766

ghost · 2021-07-08T07:37:20Z

As you are building with CMake, it may be worth looking at the Jetson installation guide in the link below that installs librealsense from source code along with the Python wrapper and targets Python 3.6 (if you are not using Python 3.6, edit the '3'6' number in the procedure to the Python version number that you are using).

#6964 (comment)

I followed this guide already, without success. The main point here is just updating cmake. I tried with version 3.13.0 as indicated at point one, but nothing changed.

This guide has worked consistently for Jetson users, including Xavier NX, and once solved a case (in the link below) where D455 was not being detected.

#7766

The detection problem seems to be solved with the same guide above, so this is not an additional way of solving the issue.

MartyG-RealSense · 2021-07-08T13:45:00Z

Hi @RicLincio Can you confirm whether your D455 detection problem was solved using #7766 please?

ghost · 2021-07-13T14:37:44Z

Hi @RicLincio Can you confirm whether your D455 detection problem was solved using #7766 please?

No, my problem has not been solved with this guide. In fact that is not even a guide, just a bunch of tips, none of which seem to apply to my case. My compilation seems to be successful since the executables are working with T265, but the problem with D455 is still there.

MartyG-RealSense · 2021-07-14T11:33:26Z

Do you have the D455 and T265 plugged into the Jetson at the same time? If so, can the D455 be detected if you unplug the T265 and boot the Jetson only with the D455?

ghost · 2021-07-15T06:18:27Z

Do you have the D455 and T265 plugged into the Jetson at the same time? If so, can the D455 be detected if you unplug the T265 and boot the Jetson only with the D455?

No, I tried with both and with each singularly, the result is always the same: T265 detected, D455 not.

MartyG-RealSense · 2021-07-15T11:16:14Z

Is it able to detect D455 if you follow the official Jetson guide exactly (for example, not changing the CMake process from the one described in the guide).

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh  
mkdir build && cd build  
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

Although the above process does not install Python support, at this point the most important goal is to achieve detection of the D455 at all.

You could also test installing with Debian packages using the information for doing so in the guide instead of building with CMake if you have not tried doing so already.

MartyG-RealSense · 2021-07-21T06:29:26Z

Hi @RicLincio Do you require further assistance with this case, please? Thanks!

ghost · 2021-07-21T07:35:29Z

Is it able to detect D455 if you follow the official Jetson guide exactly (for example, not changing the CMake process from the one described in the guide).
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh  
mkdir build && cd build  
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install
Although the above process does not install Python support, at this point the most important goal is to achieve detection of the D455 at all.

You could also test installing with Debian packages using the information for doing so in the guide instead of building with CMake if you have not tried doing so already.

Yes, please, but let me try this out first.

MartyG-RealSense · 2021-07-21T08:11:20Z

Okay, no problem @RicLincio if you require more time for further testing. Thanks for the update!

ghost · 2021-07-21T08:32:34Z

Is it able to detect D455 if you follow the official Jetson guide exactly (for example, not changing the CMake process from the one described in the guide).
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh  
mkdir build && cd build  
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install
Although the above process does not install Python support, at this point the most important goal is to achieve detection of the D455 at all.

This strategy with standard installation is not working. The same conditions are met: T265 is detected, D455 is not, regardless of having only one or both plugged.
When launching realsense-viewer, I collect these messages on the terminal, after connecting the D455:

user@xavier:~$ realsense-viewer 
 21/07 10:24:46,471 WARNING [547792506656] (ds5-factory.cpp:1127) DS5 group_devices is empty.
 21/07 10:25:25,518 ERROR [547792506656] (types.h:315) get_dev_capabilities: Cannot open '/dev/video1 Last Error: Device or resource busy
 21/07 10:25:25,519 ERROR [547792506656] (types.h:315) get_dev_capabilities: Cannot open '/dev/video2 Last Error: Device or resource busy
 21/07 10:25:25,520 ERROR [547792506656] (types.h:315) get_dev_capabilities: Cannot open '/dev/video0 Last Error: Device or resource busy
 21/07 10:25:25,531 WARNING [547792506656] (ds5-factory.cpp:1127) DS5 group_devices is empty.
 21/07 10:25:30,547 WARNING [547792506656] (ds5-factory.cpp:1127) DS5 group_devices is empty.

ghost · 2021-07-21T08:43:52Z

You could also test installing with Debian packages using the information for doing so in the guide instead of building with CMake if you have not tried doing so already.

This doesn't solve the problem. The same behaviour as above is observed.

MartyG-RealSense · 2021-07-21T16:32:56Z

Do the results on Jetson change if you downgrade to firmware 5.12.13.50 on the D455, which is one version older than the currently newest one that you have installed in the camera and is also the recommended firmware for SDK 2.45.0?

https://dev.intelrealsense.com/docs/firmware-releases#section-d400-series-firmware-downloads

ghost · 2021-07-21T16:59:18Z

Same problem here with official librealsense version 2.47 and D455 on Jetson Xavier NX

MartyG-RealSense · 2021-07-22T12:36:44Z

@RicLincio @GuglielmoDev Does the USB insertion sound effect in Ubuntu ever trigger if you unplug the camera, wait a couple of seconds and then re-insert the connector, repeating this up to 10 times?

ghost · 2021-07-22T14:04:32Z

Do the results on Jetson change if you downgrade to firmware 5.12.13.50 on the D455, which is one version older than the currently newest one that you have installed in the camera and is also the recommended firmware for SDK 2.45.0?

https://dev.intelrealsense.com/docs/firmware-releases#section-d400-series-firmware-downloads

No, results are the same.

ghost · 2021-07-22T14:06:46Z

@RicLincio @RicLincio Does the USB insertion sound effect in Ubuntu ever trigger if you unplug the camera, wait a couple of seconds and then re-insert the connector, repeating this up to 10 times?

No idea, I don't have an audio device available. I think it is more relevant checking the system messages with dmesg

[   46.720629] usb 2-3.3: new SuperSpeed USB device number 4 using tegra-xusb
[   46.742114] usb 2-3.3: New USB device found, idVendor=8086, idProduct=0b5c
[   46.742136] usb 2-3.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[   46.742144] usb 2-3.3: Product: Intel(R) RealSense(TM) Depth Camera 455 
[   46.742156] usb 2-3.3: Manufacturer: Intel(R) RealSense(TM) Depth Camera 455 
[   46.742214] usb 2-3.3: SerialNumber: 032623060566
[   46.749737] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 455  (8086:0b5c)
[   46.758960] uvcvideo: Unable to create debugfs 2-4 directory.
[   46.759209] uvcvideo 2-3.3:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[   46.759434] uvcvideo 2-3.3:1.0: Entity type for entity Processing 2 was not initialized!
[   46.759580] uvcvideo 2-3.3:1.0: Entity type for entity Camera 1 was not initialized!
[   46.760040] input: Intel(R) RealSense(TM) Depth Ca as /devices/3610000.xhci/usb2/2-3/2-3.3/2-3.3:1.0/input/input6
[   46.761577] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 455  (8086:0b5c)
[   46.765715] uvcvideo: Unable to create debugfs 2-4 directory.
[   46.765941] uvcvideo 2-3.3:1.3: Entity type for entity Processing 7 was not initialized!
[   46.766150] uvcvideo 2-3.3:1.3: Entity type for entity Extension 8 was not initialized!
[   46.766304] uvcvideo 2-3.3:1.3: Entity type for entity Camera 6 was not initialized!
[   54.216338] usb 2-3.3: usb_suspend_both: status 0
[   54.272289] usb 2-3: usb_suspend_both: status 0
[   54.272535] usb usb2: usb_suspend_both: status 0

MartyG-RealSense · 2021-07-22T16:51:04Z

Another RealSense user who had a non-detecting camera on Ubuntu (an L515, not a D455) reported today that their problem was solved if they disabled USB auto-suspend.

#9455 (comment)

ghost · 2021-07-23T12:32:27Z

Another RealSense user who had a non-detecting camera on Ubuntu (an L515, not a D455) reported today that their problem was solved if they disabled USB auto-suspend.

#9455 (comment)

The command sudo sed -i 's/GRUB_CMDLINE_LINUX_DEFAULT="/&usbcore.autosuspend=-1 /' /etc/default/grub fails because there's no file /etc/default/grub. Any tip on how to avoid this?

MartyG-RealSense · 2021-07-23T13:00:16Z

I will tag the author of the advice into this discussion.

Hi @Consultaing Thanks very much again for your advice about disabling auto-suspend. Could you kindly provide @RicLincio above with advice on how they might avoid an error regard /etc/default/grub being absent when trying to recreate the advice, please? Thanks!

Consultaing · 2021-07-23T16:43:41Z

The Jetson platform uses a Linux distribution for ARM architecture. The ARM architecture has no BIOS and therefore does not use GRUB. What it usually uses are some configuration .conf files in the boot folder. In these files you have to check if the automatic suspension flag exists. (This depends on the capabilities of the hardware and if the distribution contains the option)

dgr1992 · 2021-07-28T13:12:24Z

I faced the same problem that realsense-viewer and python were not detecting the Intel RealSense D455 on my Jetson Nano 4GB running Jetpack 4.5 and Ubuntu 18.04. I finally managed to fix the problem an here is how I got it working:

Either clone or get the latest source code release zip/tar of the librealsense
If you got the zip/tar extract it, the name of the folder will be something like librealsens-v{version_number}
change into the directory
Install all the required dependencies: sudo ./scripts/installDependencies.sh
Next create a build directory and change into it:
mkdir build
cd build
The next step is to prepare some environment variables guiding to the cuda directory. Note: change cuda-10.2 according your installation
export CUDACXX=/usr/local/cuda-10.2/bin/nvcc export PATH=$PATH:/usr/local/cuda/bin export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64
Now it is time to call cmake
cmake ../ -DFORCE_RSUSB_BACKEND=ON -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3.6 -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DBUILD_WITH_CUDA:bool=true
Next is a very time consuming step, the actual compiling. I set it to use two cores.
make -j2
After this finished it is time to copy all the files to its destinations which is done by
sudo make install
Then apply the kernel patch. Therefore go up one level
cd ..
and call the script
./scripts/patch-realsense-ubuntu-L4T.sh
It turned out that there are some copy commands missing in the "make install" which cause Python to allow import pyrealsense2 as rs but when calling a method getting an not implemented error. In the directory
librealsense-{version}/build/wrappers/python
(replace {version} with the version number if from zip/tar extracted) are some .so files an links which need to be moved to the
/usr/local/lib
copy the files "pybackend2.cpython-36m-aarch64-linux-gnu.so.{versionnumber}" and "pyrealsense2.cpython-36m-aarch64-linux-gnu.so.{versionnumber}". Inside the /usr/local/lib now create the links.
sudo ln -s pyrealsense2.cpython-36m-aarch64-linux-gnu.so.2.47.0 pyrealsense2.cpython-36m-aarch64-linux-gnu.so.2.47 sudo ln -s pyrealsense2.cpython-36m-aarch64-linux-gnu.so.2.47 pyrealsense2.cpython-36m-aarch64-linux-gnu.so sudo ln -s pybackend2.cpython-36m-aarch64-linux-gnu.so.2.47.0 pybackend2.cpython-36m-aarch64-linux-gnu.so.2 sudo ln -s pybackend2.cpython-36m-aarch64-linux-gnu.so.2 pybackend2.cpython-36m-aarch64-linux-gnu.so
Note: change the version number according to your version
Now some paths need to be added which I did by adding following lines to the .bashrc
export PATH=$PATH:~/.local/bin export PYTHONPATH=$PYTHONPATH:/usr/local/lib export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/pyrealsense2
After adding do a
source .bashrc
The last step was to add udev rules to give access to the camera
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules && udevadm trigger

If you now run "rs-enumerate-devices" the camera should be listed. Running realsens-viewer should open the application and the camera should be detected.

To check if the python library is working I run the python-tutorial-1-depth.py in the folder wrappers/python/examples.

Hope this helps!

MartyG-RealSense · 2021-07-28T13:30:13Z

Thanks so much @dgr1992 for sharing your guide with the RealSense community :)

yzkzero · 2021-08-02T03:47:19Z

@dgr1992 I think why you can find device in Jetson is because you are using RSUSB. And patching kernel (run patch-realsense-ubuntu-L4T.sh) is not necessary in your case.

If you want to use V4L (-DFORCE_RSUSB_BACKEND=false) as @RicLincio tried, you have to patch the kernel. Otherwise, camera device cannot be found in Jetson.

dgr1992 · 2021-08-02T10:32:36Z

@dgr1992 I think why you can find device in Jetson is because you are using RSUSB. And patching kernel (run patch-realsense-ubuntu-L4T.sh) is not necessary in your case.

If you want to use V4L (-DFORCE_RSUSB_BACKEND=false) as @RicLincio tried, you have to patch the kernel. Otherwise, camera device cannot be found in Jetson.

I didn't know that, thanks for letting me know!

ghost · 2021-08-03T10:45:41Z

I can confirm that this issue with D455 on Jetson Xavier NX still has not a solution for me.
Moreover I have same problem with D435i and D515, while T265 is recognized.

rs-enumerate-devices says "No device detected"

Tried also with multiple cables and usb ports.

dmesg output with D435i:

[  422.755463] usb 2-3.4: new SuperSpeed USB device number 8 using tegra-xusb
[  422.776137] usb 2-3.4: New USB device found, idVendor=8086, idProduct=0b3a
[  422.776148] usb 2-3.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  422.776155] usb 2-3.4: Product: Intel(R) RealSense(TM) Depth Camera 435i
[  422.776161] usb 2-3.4: Manufacturer: Intel(R) RealSense(TM) Depth Camera 435i
[  422.776167] usb 2-3.4: SerialNumber: 903223053376
[  422.780370] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[  422.789735] uvcvideo: Unable to create debugfs 2-8 directory.
[  422.789934] uvcvideo 2-3.4:1.0: Entity type for entity Intel(R) RealSense(TM) Depth Ca was not initialized!
[  422.790144] uvcvideo 2-3.4:1.0: Entity type for entity Processing 2 was not initialized!
[  422.790285] uvcvideo 2-3.4:1.0: Entity type for entity Camera 1 was not initialized!
[  422.790686] input: Intel(R) RealSense(TM) Depth Ca as /devices/3610000.xhci/usb2/2-3/2-3.4/2-3.4:1.0/input/input9
[  422.792879] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a)
[  422.797437] uvcvideo: Unable to create debugfs 2-8 directory.
[  422.797686] uvcvideo 2-3.4:1.3: Entity type for entity Processing 7 was not initialized!
[  422.797868] uvcvideo 2-3.4:1.3: Entity type for entity Extension 8 was not initialized!
[  422.798009] uvcvideo 2-3.4:1.3: Entity type for entity Camera 6 was not initialized!
[  430.578983] usb 2-3.4: usb_suspend_both: status 0
[  430.634971] usb 2-3: usb_suspend_both: status 0
[  430.635172] usb usb2: usb_suspend_both: status 0

dmesg output with D515:

[  596.460955] usb 2-3.2: new SuperSpeed USB device number 10 using tegra-xusb
[  596.481732] usb 2-3.2: New USB device found, idVendor=8086, idProduct=0b64
[  596.481743] usb 2-3.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[  596.481750] usb 2-3.2: Product: Intel(R) RealSense(TM) 515
[  596.481755] usb 2-3.2: Manufacturer: Intel(R) RealSense(TM) Camera
[  596.481760] usb 2-3.2: SerialNumber: 00000000F0265395
[  596.486765] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) 515 (8086:0b64)
[  596.496639] uvcvideo: Unable to create debugfs 2-10 directory.
[  596.501603] uvcvideo: Unable to create debugfs 2-10 directory.
[  596.501773] uvcvideo 2-3.2:1.0: Entity type for entity Extension 3 was not initialized!
[  596.501959] uvcvideo 2-3.2:1.0: Entity type for entity Processing 2 was not initialized!
[  596.502105] uvcvideo 2-3.2:1.0: Entity type for entity Camera 1 was not initialized!
[  596.502734] input: Intel(R) RealSense(TM) 515 as /devices/3610000.xhci/usb2/2-3/2-3.2/2-3.2:1.0/input/input11
[  596.505214] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) 515 (8086:0b64)
[  596.509970] uvcvideo: Unable to create debugfs 2-10 directory.
[  596.510147] uvcvideo 2-3.2:1.4: Entity type for entity Processing 10 was not initialized!
[  596.510445] uvcvideo 2-3.2:1.4: Entity type for entity Extension 11 was not initialized!
[  596.510638] uvcvideo 2-3.2:1.4: Entity type for entity Camera 9 was not initialized!
[  603.632667] usb 2-3.2: usb_suspend_both: status 0
[  603.688651] usb 2-3: usb_suspend_both: status 0
[  603.688880] usb usb2: usb_suspend_both: status 0

MartyG-RealSense · 2021-08-09T06:16:40Z

Hi @RicLincio Do you require further assistance with this case, please? Thanks!

lincior · 2021-08-09T08:12:02Z

Hello, yes, but I won’t be able to work on it for 2 weeks. I kindly ask you to leave the issue open in the meantime.

MartyG-RealSense · 2021-08-09T08:48:59Z

That is no problem at all to leave the case open for that further time period. Thanks for the update!

MartyG-RealSense · 2021-10-22T07:58:13Z

Hi @RiccardoLincetto Do you require further assistance with this case, please? Thanks!

lincior · 2021-10-22T17:17:55Z

Hi @MartyG-RealSense, I am not working on this anymore.
I think @GuglielmoDev might be interested in it. Please refer to him from now on on this issue.

MartyG-RealSense · 2021-10-22T17:46:14Z

Thanks very much @RiccardoLincetto for the update!

MartyG-RealSense · 2021-10-28T06:31:16Z

Hi @GuglielmoDev Do you require further assistance with this case, please? Thanks!

MartyG-RealSense · 2021-11-03T07:32:34Z

Case closed due to no further comments received.

MartyG-RealSense added d455 jetson Linux labels Jul 6, 2021

MartyG-RealSense closed this as completed Nov 3, 2021

ghost mentioned this issue Nov 29, 2021

D455 not detected on Jetson Xavier NX with v2.50 and native drivers #10003

Closed

MartyG-RealSense mentioned this issue Jan 30, 2022

D455 cannot be found using native backend #10188

Closed

Intel D455 undetected by Jetson Xavier NX #9344

Intel D455 undetected by Jetson Xavier NX #9344

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