Setup Intel RealSense D455 with Jetson Orin Nano

    IntelRealSenseD455·JetsonOrin
  1. Step1: Setup Jetson Orin
  2. Step2: Setup Intel RealSense D455
    1. LibRealSense SDK Backend
    2. Building from source rather than using binary
  3. Step3: Verify the setup

Step1: Setup Jetson Orin

Reference: Jetson-Orin-Nano-Setup
The latest release of Jetpack comes to JP6.0 rev3, some minimal fixes are patched.

  1. Flash Q-SPI with scripts
  2. Flash SSD with scripts
  3. Install Jetpack with apt manually

Step2: Setup Intel RealSense D455

Reference: Official Guide

LibRealSense SDK Backend

Comparing with the installation for general Ubuntu, L4T has 2 USB drivers as LibRealSense SDK Backend:

  1. Linux native kernel drivers for UVC, USB and HID (Video4Linux and IIO respectively)
  2. Using RSUSB - user-space implementation of the UVC and HID data protocols, encapsulated and activated by selecting the SDK’s -DFORCE_RSUSB_BACKEND flag (a.k.a. -DFORCE_LIBUVC with SDK versions prior to v.2.30).
    When the second method is selected Librealsense2 communicates with the devices using the standard USB driver, while the higher-level protocols (UVC/HID) stacks are compiled directly into the SDK.
    For the best compatibility, the second method is preferred.
    Installation with apt is not available

Building from source rather than using binary

Use libuvc_installation.sh in scripts to download compile and install.
The following scripts are modified for these purposes:

  1. Use development branch instead of master branch to support IMU in Jetpack6.x
  2. Enable parallel compiling with make -j6
  3. Enable CUDA and assert CUDA_COMPILER with flag: -DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" -DBUILD_WITH_CUDA=true
  4. Enable RSUSB backend with flag -DFORCE_RSUSB_BACKEND=true(DFORCE_LIBUVC is used for SDK versions prior to v.2.30)
    Note:
  5. The scripts would download source code in ~/librealsense folder.
  6. The another backend or the installation with apt cause conflict. Remove them before installation.
  7. Compiling time may lasts over 10 minutes.
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    #!/bin/bash -xe

    #Locally suppress stderr to avoid raising not relevant messages
    exec 3>&2
    exec 2> /dev/null
    con_dev=$(ls /dev/video* | wc -l)
    exec 2>&3

    if [ $con_dev -ne 0 ];
    then
            echo -e "\e[32m"
            read -p "Remove all RealSense cameras attached. Hit any key when ready"
            echo -e "\e[0m"
    fi

    lsb_release -a
    echo "Kernel version $(uname -r)"
    sudo apt-get update
    cd ~/
    sudo rm -rf ./librealsense_build
    mkdir librealsense_build && cd librealsense_build

    if [ $(sudo swapon --show | wc -l) -eq 0 ];
    then
            echo "No swapon - setting up 1Gb swap file"
            sudo fallocate -l 2G /swapfile
            sudo chmod 600 /swapfile
            sudo mkswap /swapfile
            sudo swapon /swapfile
            sudo swapon --show
    fi

    echo Installing Librealsense-required dev packages
    sudo apt-get install git cmake libssl-dev freeglut3-dev libusb-1.0-0-dev pkg-config libgtk-3-dev unzip -y
    #rm -f ./master.zip

    wget https://github.com/IntelRealSense/librealsense/archive/development.zip
    unzip ./development.zip -d .
    cd ./librealsense-development

    echo Install udev-rules
    sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
    sudo cp config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/
    sudo udevadm control --reload-rules && sudo udevadm trigger
    mkdir build && cd build
    cmake ../ -DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" -DFORCE_LIBUVC=true -DFORCE_RSUSB_BACKEND=true -DBUILD_WITH_CUDA=true -DCMAKE_BUILD_TYPE=release
    make -j6
    sudo make install
    echo -e "\e[92m\n\e[1mLibrealsense script completed.\n\e[0m"

Step3: Verify the setup

Plugin the USB cable first.
Output of lsusb

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Bus 002 Device 007: ID 8086:0b5c Intel Corp. Intel(R) RealSense(TM) Depth Camera 455
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 8087:0a2b Intel Corp. Bluetooth wireless interface
Bus 001 Device 002: ID 1a40:0101 Terminus Technology Inc. Hub
Bus 001 Device 005: ID 2717:5010 Xiaomi Inc. Mi Wireless Combo
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

Output of lsusb -t

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lsusb -t
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=tegra-xusb/4p, 10000M
    |__ Port 2: Dev 7, If 0, Class=Video, Driver=uvcvideo, 5000M
    |__ Port 2: Dev 7, If 1, Class=Video, Driver=uvcvideo, 5000M
    |__ Port 2: Dev 7, If 2, Class=Video, Driver=uvcvideo, 5000M
    |__ Port 2: Dev 7, If 3, Class=Video, Driver=uvcvideo, 5000M
    |__ Port 2: Dev 7, If 4, Class=Video, Driver=uvcvideo, 5000M
    |__ Port 2: Dev 7, If 5, Class=Human Interface Device, Driver=usbhid, 5000M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=tegra-xusb/4p, 480M
    |__ Port 2: Dev 5, If 0, Class=Human Interface Device, Driver=usbhid, 12M
    |__ Port 2: Dev 5, If 1, Class=Human Interface Device, Driver=usbhid, 12M
    |__ Port 3: Dev 2, If 0, Class=Hub, Driver=hub/4p, 480M
        |__ Port 4: Dev 3, If 0, Class=Wireless, Driver=btusb, 12M
        |__ Port 4: Dev 3, If 1, Class=Wireless, Driver=btusb, 12M

Graphic interface of realsense-viewer
The development branch has a different version number than master branch.
The GPU usage indicates the CUDA is enabled.
IMU and camera work fine.
Screenshot from 2024-07-10 14-00-15.png

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