D455 IMU not detected on Jetson Orin NX / JetPack 6.2, while the same camera works on another PC

[Tony-Zhaoxy]

Camera Model (if applicable)

D455

Topic

IMU / Motion Data

Your Question

Is this a known JetPack 6.2 / Jetson USB-HID compatibility issue for D455 IMU devices?

If so, is there any confirmed workaround beyond:

source build with RSUSB / libuvc backend
firmware downgrade / upgrade
udev rules
disabling autosuspend

Context / What You've Tried

Hi, I am seeing a RealSense IMU issue on a Jetson Orin NX running JetPack 6.2.

Platform
Device: Jetson Orin NX
OS: JetPack 6.2 / Ubuntu 22.04
Camera: Intel RealSense D455
SDK: librealsense 2.57.7
ROS wrapper: realsense2_camera 4.57.7
Firmware tested:
5.17.0.10
5.13.0.50
Problem

RGB / depth are detected, but the IMU is not available on Jetson.

In ROS2, enabling gyro and accel gives:

No HID info provided, IMU is disabled

Running rs-motion from the source-built librealsense tools gives:

Device supporting IMU not found

However, the same D455 works on another computer, where Motion Module / IMU is visible. So this does not look like a camera hardware failure.

What I already tried
Installed udev rules
Built librealsense from source with RSUSB / libuvc backend
Tested both firmware 5.17.0.10 and 5.13.0.50
Verified that the Jetson can enumerate the camera and the HID interface
Killed viewer / ROS processes and retested
Disabled USB autosuspend on the device path
Confirmed the issue happens both in RealSense Viewer / rs-motion and in ROS2
Key observations

lsusb -t shows that the D455 is enumerated with both UVC and HID interfaces, including:

If 5, Class=Human Interface Device, Driver=usbhid, 5000M

udevadm also shows the HID interface as:

interface=="Intel(R) RealSense(TM) HID"

dmesg shows the camera being detected and hidraw0 created for the D455 HID interface, for example it reports hidraw0: USB HID v1.10 Device [Intel(R) RealSense(TM) Depth Camera 455 ...], and later the UVC device is found as Intel(R) RealSense(TM) Depth Camera 455 (8086:0b5c). There are also Unknown video format messages from uvcvideo. On this Jetson, rs-motion still reports Device supporting IMU not found.

I also confirmed that the USB descriptors include a HID interface on If#=5 with driver usbhid, and /dev/hidraw0 exists for the RealSense HID device.

Current status
Camera is detected
RGB / depth work
HID interface appears to exist on Jetson
IMU is still unavailable only on Jetson
Same camera works correctly on another machine

Any guidance would be appreciated.

LibRealSense SDK Version (if applicable)

2.57.7

Operating System (if applicable)

Ubuntu 22.04

Additional Context

No response

[MartyG-RealSense]

Hi @Tony-Zhaoxy RealSense IMU-equipped cameras (which are HID devices) can have problems with JetPack 6, such as non-detection or inability to access the IMU. This is because JP6 removed a function called hiddraw that the IMU cameras depended upon.

The workaround that works in most cases is a libuvc backend source code installation of the librealsense SDK. Some users find that if a libuvc installation still does not work then using firmware 5.13.0.50 with the libuvc installation resolves theproblem.

I note though that you have tried the libuvc installation method and the 5.13.0.50 firmware.

Is there any difference if you launch programs in sudo admin permissions mode - for example, sudo realsense-viewer and sudo rs-motion

[MartyG-RealSense]

Hi @Tony-Zhaoxy Do you require further assistance with this case, please? Thanks!