Step 1: Set up Jetson Orin

Reference: Jetson Orin Nano Setup This procedure was tested with JetPack 6.0 and Jetson Linux 36.3 in July 2024. Use it as a versioned record rather than a current-release guide.

1. Flash Q-SPI with scripts
2. Flash SSD with scripts
3. Install the remaining JetPack components with apt.

Step 2: Set up 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. The RSUSB backend avoids patching the Jetson kernel and was selected for this setup. It can have different performance and feature tradeoffs from the native kernel backend. Check current package support before deciding to build from source.

Building from source rather than using binary

Use the script below to download, compile, and install the tested librealsense release. The following scripts are modified for these purposes:

1. Pin librealsense 2.55.1 rather than downloading a moving development branch.
2. Enable parallel compilation with make -j6.
3. Enable CUDA and specify the compiler with -DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" -DBUILD_WITH_CUDA=true.
4. Enable the RSUSB backend with -DFORCE_RSUSB_BACKEND=true. Note:
5. The script downloads source code into ~/librealsense_build.
6. The another backend or the installation with apt cause conflict. Remove them before installation.
7. Compiling time may lasts over 10 minutes.

#!/bin/bash -xe

# Locally suppress errors while checking for connected video devices.
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 ~/
mkdir librealsense_build && cd librealsense_build

if [ $(sudo swapon --show | wc -l) -eq 0 ];
then
        echo "No swap found - setting up a 2 GiB 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/refs/tags/v2.55.1.zip
unzip ./v2.55.1.zip -d .
cd ./librealsense-2.55.1

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_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"

Step 3: Verify the setup

Plug in the USB cable before running the verification commands. Output of lsusb

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

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

Graphical interface of realsense-viewer: The GPU usage indicates the CUDA is enabled. IMU and camera work fine.

The lsusb -t example above shows uvcvideo bound to the camera interfaces. Confirm the backend actually used by librealsense in its logs; the USB driver’s presence alone does not prove that the application is using the RSUSB backend.