NVIDIA Xavier NX Patch Update Request #8079
Comments
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Hi @xxEoD2242 Are you getting Hunk errors when you build for Xavier? If so, having Jetpack 4.4 (L4T-32.4.3) installed may help if you are not using that version already, as described in the recent case in the link below. |
Hi @MartyG-RealSense, I am using Jetpack 4.4.1, which is the latest version NVIDIA recommends using for the Xavier NX. I would assume the issue is related to the updated Jetpack then? Yes, for the first three patches, I got Hunk errors since the files were vastly different and the patch sub-routine can only do so much about files being vastly different then expected. However, when manually updating UVC, I noticed that some of the functionality that was being added to UVC already exists in the newest Tegra kernel. This would lead me to believe that some portions of the updates were taken care of by NVIDIA since 2018 when the patches were written. |
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In the linked-to case, Jetpack 4.4 solved one RealSense user's build problems, but not a 4.4.1 user's. Would it be possible to step back one version to Jetpack 4.4 and see whether it makes a difference? |
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Well, I got mine to work with the newest of everything so I'll probably keep that version. However, I have another development board I can use to test our Jetpack 4.4 and confirm that works for you. I just wanted to make ya'll aware of the patch issues. I'll also take a look at UVC as well. I'd like to understand how UVC is encoding the messages, because I have a theory that the output message during startup for the firmware is misaligned with the Tegra UVC drivers. @MartyG-RealSense Is the firmware for the RealSense camera open source? |
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I have passed your kindly provided patching feedback in this case to RealSense team members involved in JetPack and the patching script. The firmware is not open-source. |
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Hi again @xxEoD2242 I have been informed by Intel that the L4T patch currently supports up to JetPack 4.4 (L4T-32.4.3) at the time of writing this. |
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Hey @MartyG-RealSense, sounds good. I may write my own kernel patches for 4.4.1 and post them in Jetson Hacks. I'll link here when I finish them if the team is interested. Thanks for the quick turnaround! |
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You are very welcome. You are of course free to pursue your own solution, or wait for an official patch script update from Intel for 4.4.1 support. I cannot provide a time estimate of when an official solution will be available though. Thanks again for your excellent feedback! |
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@xxEoD2242 Hello. I am using the 4.4.1 Jetpack on Jetson Xavier. The problem is that Xavier is embedded within the robot so I do not have access to SD card slot, and it seems like I need to reinstall the jetpack 4.4 since 4.4.1 does not work. Is Intel working on getting this to work with 4.4.1? or have you been able to patch it correctly? If you were able to work this around, would you be kind enough to share your link in Jetson Hacks? I could really use some help here.. Thank you very much! My error: Apply Librealsense Kernel Patches My jetpack version: Package: nvidia-jetpack Package: nvidia-jetpack |
Issue Description
So, I've been trying to get the D455 to work on a Jetson Xavier NX for the past few weeks. I had some success but, in general, it was very inconsistent.
I eventually figured out that the Tegra kernel is the issue (and I know Intel doesn't officially support it). So, I attempted to use the L4T kernel patches to patch UVC and v4l. However, when I went to apply the patches (which are from 2018), the first three patches all failed at some part.
This is due, as I found out, since the patches are not even close to the latest edition of the 4.9 kernel. My method to solve this was by manually editing the kernel-4.9 Tegra copy. I then commented out the commands for applying the patches and then completed the kernel patch process.
What I'd like to request is if someone could go and update the LRS patches so that they are consistent with the latest Tegra kernel. Some of the patches that failed were way off (by 350 lines) but some of the patches for UVC were already in there (like adding support for HDI IMU).
I can provide more detail on what is not up to date and what is. I also wrote down what I changed manually and can provide that as well.
Resolution
The results of this were that (only upon initially starting depth images), I get a few Resource Not Available Messages and then the camera works perfectly, including the IMU-fused data. What appears (to me and what the heck to do I know) is that the initial UVC communication messages aren't synced properly with the RealSense SDK, causing a brief issue.
I tested several of the built-in examples and everything seems to be working fine. I'm pretty sure, however, that additional UVC patches are most likely needed.
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