IntelRealSense
Is Jetpack 6.2 available for Jetson AGX?
I was wondering that there is no docker container or driver for running the Realsense 435i on a jetpack 6.2 system like the Jetson AGX system.
Is there any possibility?
Hi @becketps It has previously been found that it is possible for Docker to be used with RealSense cameras when using JP 6.2 but it is difficult for the camera to be detected unless you use sudo admin permissions. https://github.com/IntelRealSense/librealsense/issues/14089 has more information about this.
Hi @becketps Do you require further assistance with this case, please? Thanks!
Hi, I think the only question is how the dockerfile must look like to integrate the sdk
A Jetson Orin Nano user at https://github.com/IntelRealSense/librealsense/issues/7722#issuecomment-2646383082 shared their dockerfile.
Hi @becketps Do you require further assistance with this case, please? Thanks!
I think so far not. Do you also provide cameras to test it with half transparent horses? A lot of cameras are only able to record it 40cm away and elsewise NaN pixels occure and the depth map is not usable anymore.
I am certain that RealSense cameras have not been tested with a half transparent horse. :)
For semi transparent surfaces in general though (such as a plastic drinks bottle) the D405 camera model (which has an ideal depth range of 7 cm to 50 cm) performs very well, as demonstrated at the link below.
D405 is designed specifically to provide high accuracy, high quality images at close range.
If you need both close range and further distance, a D435, D435i or D435f would be the next best choice as it has a minimum depth distance of around 15 cm and a maximum of 10 meters.
Other models in the RealSense 400 Series range such as D455 and D415 typically have to be around 50 cm minimum away, otherwise if the camera is placed closer than that then the depth image starts breaking up.
Hi @becketps Was the information in the comment above helpful to you, please? Thanks!
Yes thanks. But that means that I need other sensoric to see something in the near and see and feel the deformation of hoses . Do you have there ideas what can help for gripping such objects?
If you need to detect deformations then you could consider taking a 3D scan of the hose and comparing it to a perfect 3D model template of the hose. In this way, deviation analysis can be done to see if there are deformations.
To do this, software called Artec Studio can be used with another program called SOLIDWORKS via a plugin called 'Geomagic for SOLIDWORKS'. The Geomagic plugin enables you to take a 3D model and convert it into CAD details and perform operations such as checking for deviation by comparing the scan to a 3D model.
https://www.artec3d.com/3d-software/solidworks-cad
If you need a gripper-based solution then you can find resources about gripper projects for detecting deformation that make use of RealSense cameras by googling for the search term gripper deformation realsense
ok but this programs you mention are not free and not runable on a Jetson agx. Thats no Option for research.
RealSense cameras have been used for projects that work out how to grip an object by observing the object's "pose" (position and rotation) and then guide a robot arm to a specific individual object to pick it up in the gripper.
Various demonstrations of using RealSense cameras for this capability are available on YouTube, including examples at the link below that softly grip and move a strawberry and a boiled egg.
https://www.youtube.com/watch?v=B5_kExxrY40
https://www.youtube.com/watch?v=AIj6rRRCT7g
The free open-source software Isaac Lab might suit your needs for researching robot control on Jetson.
https://developer.nvidia.com/isaac/lab
Thanks for the hint. The main disadvantage is that this Isaac Lab depends on Isaac Sim and this is not runable on PC with less than 48GB GPU and therefore also noone uses it so far in my Team. Do you now alternatives with less effort to set a twin on or doing/developing such tasks?
Software for robot arms is typically designed for a particular make of robot arm, which can make it difficult to find software. Who is the manufacturer of your team's robot arm, please?
AIRSHIP is an open-source robot control tool designed for Jetson Orin AGX that looks as though it is applicable to a range of different hardware. https://github.com/airs-cuhk/airship
No we do have the UR15 equipment and do have to do the hose coupling and also a infrastructure coupling with a mulifuctunal plate with airpressure, water towards and backwords of stationary equipment and communication to a mixer in Pharmacy
A Universal Robots UR15 could be interfaced with for free through ROS2 using UR's own official ROS driver at the link below, which is compatible with the full range of UR robots.
https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
The instructions do not specifically mention Jetson but could likely be used with one.
yes but that was not the question. The Question was what possibilites of twins without Nvidia Sim is there for hoses. Yes the Driver is there but bugged and due to to the lack of description not usable so far with polyscope X.The twin cant be extended easyly with their stack in the description because it always triggers ros2 controll errors. Therefore the controll is done via polyscope x commands.
Because of the very specific and complex nature of your project, I recommend creating a private support ticket on RealSense's Zendesk channel instead of this public GitHub channel in order to receive advanced support from RealSense engineers.
https://realsenseai.zendesk.com/
thanks for the advice. There I was asked if I have an NDA. I'm not sure if I landed there right.
You can arrange with RealSense to sign up for an NDA agreement but an NDA may not be needed for your particular case as you are not requesting confidential technical information about how RealSense cameras operate. So if you are asked by a support team member if you have an NDA, tell them you don't and see what they say.
Hi @becketps After the information provided in the comment above, do you require further assistance with this case please? Thanks!
You said a couple of weeks ago that you were asked if you had an NDA when you went to file a private ticket on Zendesk. Was that one of the RealSense team who asked you that on Zendesk, please? And if they did, what did you reply to them?
They only asked me if I have an NDA with them, I said no so far and then there was no conversation further. I wanted to asked them if they have a possibility for semi real twin that could be established with the cameras. You have some items in simulation and cables outside which are projected from the camera in the ideal world of simulation. The calculation of cable deformation iss nearly impossible therefore that is necessary and I wanted to asked if they have so far experiences and knowleges for integration and the semitransparent hoses.
I would suggest posting a follow-up comment to the ticket explaining what your needs are to see if you get a further response from the RealSense team member assigned to the ticket. If there is still no response then let me know and I will follow up with my colleagues to find out what is happening with it.
Hi @becketps Did you post a follow-up comment on your Zendesk ticket explaining what your needs are, and if so did you get a response please?
Okay, give me the link to the Zendesk ticket please and I will highlight it to my RealSense colleagues.
Hi @becketps Have you been responded to on your Zendesk ticket yet? If not then please give me the link and I will highlight it to my RealSense colleagues.
Your request (24846) has been updated. To add additional comments, reply to this email.
That was the only known message I recieved with the answer of the person, who said I need an NDA. On the following message I did not recieve an answer.