Problem running D435i on Orin Nano 4gb

[mstiehm-NF]

I'm having an issue when using a D435i in docker on an nvidia Jetson Orin nano 4GB.

The issue is that when I launch the camera using the following configuration, the /dev/video devices disappear from my system. I use them to determine if the camera is connected within the container, so I want them to stay.

The other issue I experience is that after killing the docker container and trying again, I am unable to start the ros node unless I unplug and replug the device.

I have the udev rules set correctly on the host, and the only realsense lib installed is inside my container, and I have checked that I only have one installed. I have tried both the RSUSB and the UVC backends and both have the issue. I have also tried both the latest libraries and firmwares and the NVIDIA recommended ones and I still have the issue. I'm hoping someone has also seen this issue, and maybe has figured out how to fix this.

   realsense_node = ComposableNode(
        namespace=namespace,
        package='realsense2_camera',
        plugin='realsense2_camera::RealSenseNodeFactory',
        name=f'{camera_name}_realsense_camera', # Give a unique name to the node
        parameters=parameters)

Yaml config:

device_type: ''
serial_no: ''
usb_port_id: ''

rgb_camera:
  profile: '640x480x15'
color_info_qos: "SENSOR_DATA"
color_qos: "SENSOR_DATA"

depth_module:
  profile: '640x480x60'
  emitter_enabled: 1
  emitter_on_off: true
depth_qos: "SENSOR_DATA"
depth_info_qos: "SENSOR_DATA"

infra_qos: "SENSOR_DATA"

enable_accel: true
enable_color: true
enable_depth: true
enable_gyro: true
enable_infra1: true
enable_infra2: true

pointcloud:
  enable: false

pointcloud_texture_index: 0
pointcloud_texture_stream: RS2_STREAM_ANY

enable_sync: true
align_depth: true

gyro_fps: 200
accel_fps: 63
unite_imu_method: 2