ROS2 Humble - docker container failed to open Realsense D435i.

[Aki1608]

---

Required Info
Camera Model	{D435i}
Firmware Version	--
Operating System & Version	Ubuntu 20.04
Kernel Version (Linux Only)	5.10.65-tegra
Platform	Jetson AGX ORIN
SDK Version	{2.50}
Segment	{Robot }

Issue Description

I am trying to run realsense camera in docker container from NVIDIA. (ros2-humble Isaac_ros container.) When I open realsense-viewer, I get these error output:

20/07 10:18:51,355 ERROR [281473491908864] (handle-libusb.h:51) failed to open usb interface: 0, error: RS2_USB_STATUS_NO_DEVICE 20/07 10:18:51,355 ERROR [281473590802688] (sensor.cpp:572) acquire_power failed: failed to set power state 20/07 10:18:51,356 WARNING [281473590802688] (rs.cpp:310) null pointer passed for argument "device" 20/07 10:18:51,356 WARNING [281473590802688] (rs.cpp:2691) Couldn't refresh devices - failed to set power state

I also tried copying the 99-realsense-libusb.rules, but when i run sudo udevadm control --reload-rules, it shows unning in chroot, ignoring request.

What can be the problem? @MartyG-RealSense

[MartyG-RealSense]

Hi @Aki1608 Intel's guide at the link below for using Docker with librealsense 2.50.0 states that support for graphical programs is not currently included.

https://github.com/IntelRealSense/librealsense/tree/master/scripts/Docker

[Aki1608]

Hi @MartyG-RealSense,

I am not sure what you meant by graphical programs. I just want to open it in realsense-viewer SDK from the docker container. I have tried before with other docker container (ros2-foxy isaac_ros container) and I was able to open it.

[MartyG-RealSense]

I apologize for any confusion. There is a distinction between accessing the camera through ROS with the RealSense ROS wrapper and accessing the camera through the librealsense SDK with a tool such as realsense-viewer. So as your container is named 'ros2-foxy isaac_ros container', I was wondering if you are not using the RealSense ROS wrapper, and only using realsense-viewer to access your RealSense camera.

[naitiknakrani]

Thanks for the clarity. Earlier on Jetson devices, we were running Ubuntu 18.04 with Jetpack 4.6.1 and Isaac ROS2 foxy docker container for Ubuntu Bionic version. During that both methods you mentioned for camera access worked inside and outside docker.

On, Jetpack 5.0.1 with Ubuntu 20.04, librealsense SDK is not connecting with camera, however SDK is installed in Isaac ROS2 Humble docker.

[MartyG-RealSense]

Generally, the most recent configuration that RealSense users have had success with is Ubuntu 18.04 and Jetpack 4.6, and you were successful with that too.

There have been a small number of RealSense users who have reported success with using the SDK with JetPack 5 and Ubuntu 20.04 - such as in IntelRealSense/realsense-ros#2390 and #10416 (comment) - though the SDK does not currently have official support for JetPack 5.

The link below has a recent Jetson discussion from the Nvidia forum that refers to a RealSense user's problems with using 20.04, JetPack 5, ROS2 and Docker

https://forums.developer.nvidia.com/t/running-librealsense-2-and-ros-realsense-camera-on-jetpack-5-x-ubuntu-20-04-is-docker-an-option-with-cuda-working/218625

[Aki1608]

Hi @MartyG-RealSense,

we were able to solve it by running udevadm control --reload-rules && udevadm trigger outside the docker. We were trying to run it inside the docker and that is what causing the issue. We were able to open it in realsense-viewer as well as from realsense-ros wrapper.

Thank you for your help. :)

[MartyG-RealSense]

That's great news that you found a solution, @Aki1608 - thanks very much for the update :)

[jwson97]

I also use jetson orin and try to use realsense in isaac-ros docker (humble).

But I cannot install realsense sdk 2.5 inside docker.

When I try to install

sudo apt-get install librealsense2-dkms

I got the error as like

Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package librealsense2-dkms

So I can install realsense sdk.

Please let me know your way. How to install sdk in jetson orin.

[naitiknakrani]

@jwson97 which branch of Isaac ROS common are you using ?

[micaltho]

Hi @jwson97 - I got the same error message while installing sdk 2.51 inside isaac-ros docker (Using Jetson AGX Orin) ...

Have you solved the problem yet?

[jwson97]

Hi micalhto -
I'm sorry but I haven't solved the problem yet. I'm in learning process, so I connect realsense to foxy on ubuntu 20.04 and process the published information on jetson orin (isaac ros) . Sorry for not being of any help.