Realsense D455 not recognized by realsense ros wrapper

[tschweitzer57]

Required Info
Camera Model	D455
Platform	NVIDIA Jetson Orin Nano 8GB
Operating System & Version	Linux (Ubuntu 22.04) - Jetpack 6.0 Developper Preview
Kernel Version (Linux Only)	5.15.122 - tegra
Realsense ROS	v4.54.1
SDK Version	v2.54.1
Language	C
Segment	Robot

Issue Description

I have builded Intel RealSense SDK and ROS wrapper from source and when I try to launch the realsense2_camera package with the command ros2 run realsense2_camera realsense2_camera_node, I only get a warning :

[INFO] [1707761250.209653136] [camera.camera]: RealSense ROS v4.54.1
[INFO] [1707761250.210647646] [camera.camera]: Built with LibRealSense v2.54.1
[INFO] [1707761250.210716446] [camera.camera]: Running with LibRealSense v2.54.1
 12/02 19:07:30,224 WARNING [281472812312800] (d400-factory.cpp:1195) DS5 group_devices is empty.
[WARN] [1707761250.224951107] [camera.camera]: No RealSense devices were found!
 12/02 19:07:36,448 WARNING [281472812312800] (d400-factory.cpp:1195) DS5 group_devices is empty.
[WARN] [1707761256.448384063] [camera.camera]: No RealSense devices were found!
 12/02 19:07:42,678 WARNING [281472812312800] (d400-factory.cpp:1195) DS5 group_devices is empty.
[WARN] [1707761262.678358433] [camera.camera]: No RealSense devices were found!

When running lsusb I get this :

Bus 002 Device 003: ID 8086:0b5c Intel Corp. Intel(R) RealSense(TM) Depth Camera 455 
Bus 002 Device 002: ID 0bda:0489 Realtek Semiconductor Corp. 4-Port USB 3.0 Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 13d3:3549 IMC Networks Bluetooth Radio
Bus 001 Device 002: ID 0bda:5489 Realtek Semiconductor Corp. 4-Port USB 2.0 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

And sudo rs-enumerate-devices give this output :

No device detected. Is it plugged in?

So it seems that realsense tools can't detect the camera, I have already checked the udev rules and I don't know what to do to solve the error.

[MartyG-RealSense]

Hi @tschweitzer57 When you built the RealSense SDK from source, did you build it with the CMake build flag -DFORCE_RSUSB_BACKEND=ON included?

An Orin Nano user who also had problems shared the installation method that worked for them at #12626 (comment)

[tschweitzer57]

Hi @MartyG-RealSense when building Realsense SDK i used DFORCE_RSUSB_BACKEND=true I made an new build with "ON" instead of true and now the rs-enumerate-devices display my camera specific informations. But the ROS wrapper still don't detect the camera and display the same error.
It seems to be the same issue as IntelRealSense/realsense-ros#2883 as i first installed the debian packages. I will try to remove all related realsense files and see if it works

[tschweitzer57]

@MartyG-RealSense good news : finally the ros node is correctly executed !

I executed the following command : dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge
I had ros-humble-realsense... remaining packages and it was the last problem

Thank you very much @MartyG-RealSense for your help !

[MartyG-RealSense]

You are very welcome, @tschweitzer57 - it's excellent news that you achieved a solution! :)

[MartyG-RealSense]

Case closed due to solution achieved and no further comments received.