ZED-M camera not opening in Jetson Orin

Hardware ZED Mini
1

Hey!

I have been trying to get the ZED-M working with a Jetson Orin, and the camera is always failing to start. The Jetson has L4T 35.4.1, with CUDA 11.4. I have installed the ZED SDK and the ZED ROS packages. I have tried this camera on a laptop, and it is working there. Also I tested a ZED2i on this Jetson, and it is working. It seems like some issue with the USB/HID device setup. I have verified that the udev rules are present.

Attaching some screenshots.
Below outputs are coming in dmesg when I connect and start the camera.

image
image1236×739 211 KB

and below shows the output when I start the ROS node.

image
image1095×428 100 KB

It looks like the camera is getting disconnected when I start the ROS node, and after that the device with idProduct=f682 is not getting connected; only the HID device is getting connected.

Any idea how to resolve this issue? Any help is very much appreciated.

Thanks!

2

Hi @anand
Welcome to the Stereolabs community.
Can you please run the ZED Diagnostic tool and send me the report file that it generates?
Please copy and paste its content here if you cannot attach the file to the reply.

3

Hi @Myzhar
Please find the diagnostic results here.

Run 1

{
    "AI Models": {
        "info": [
            "MULTI CLASS DETECTION is not optimized",
            "MULTI CLASS MEDIUM DETECTION is not optimized",
            "MULTI CLASS ACCURATE DETECTION is not optimized",
            "HUMAN BODY FAST DETECTION is not optimized",
            "HUMAN BODY MEDIUM DETECTION is not optimized",
            "HUMAN BODY ACCURATE DETECTION is not optimized",
            "HUMAN BODY 38 FAST DETECTION is not optimized",
            "HUMAN BODY 38 MEDIUM DETECTION is not optimized",
            "HUMAN BODY 38 ACCURATE DETECTION is not optimized",
            "PERSON HEAD DETECTION is not optimized",
            "PERSON HEAD ACCURATE DETECTION is not optimized",
            "REID ASSOCIATION is not optimized",
            "NEURAL DEPTH is not optimized",
            "NEURAL PLUS DEPTH is not optimized"
        ]
    },
    "Camera Test": {
        "InternalDevicesCount": 2,
        "ZEDCount": 1,
        "camera": {
            "Device ID": 0,
            "Init Output": "Error : Camera not found in system path"
        },
        "error": [
            "<b>Specific resolutions are not available</b> <br/> Replug your device or connect the camera to another <b>USB 3.0</b> port."
        ],
        "resolutions": {
            "HD1080@15": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "HD1080@30": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "HD2K@15": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "HD720@15": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "HD720@30": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "HD720@60": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "VGA@100": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "VGA@15": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "VGA@30": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            },
            "VGA@60": {
                "initialization": "Error : Camera not found in system path",
                "status": false
            }
        },
        "sensors": {
            "Firmware": 517,
            "Init Output": "OK",
            "Model": "ZED Mini (MCU)",
            "Serial Number": 13695003
        }
    },
    "Devices": {
        "CorruptedFirmware": false,
        "GMSL driver": "",
        "GMSL driver compatiblity": "Unknown",
        "GMSLList": [
        ],
        "MCUDetected": true,
        "USBList": [
            {
                "USB_path": "/3/3",
                "idProduct": "0x0a2b",
                "idVendor": "0x8087"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x0608",
                "idVendor": "0x05e3"
            },
            {
                "USBMode": 2,
                "USB_path": "/2",
                "bDescriptorType": 1,
                "bDeviceProtocol": 0,
                "bLength": 18,
                "bMaxPacketSize0": 64,
                "bNumConfigurations": 1,
                "bcdDevice": "2.5",
                "bcdUSB": "2.0",
                "bcdUSBClass": 0,
                "bcdUSBSubClass": 0,
                "busNumber": 1,
                "device": "ZED mini MCU",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 3,
                "idProduct": "0xf681",
                "idVendor": "0x2b03"
            }
        ],
        "USBMode": 3,
        "ZED MCU Module Detected": 63105,
        "error": [
            "<b>Camera not detected</b><br/> <b>Flip</b> the Type-C USB cable connected to the ZED or <b>replug</b> the camera. Make sure to use a USB 3.0 port."
        ],
        "warning": [
            "<b>No GMSL driver found.</b><br/> USB camera are not impacted by this."
        ]
    },
    "Graphics Card": {
        "deviceCount": 1,
        "deviceDriverVersion": 11040,
        "devices": [
            {
                "arch": "Ampere",
                "computeCapability": "8.7",
                "cores": 1024,
                "name": "Orin",
                "totalMemoryBytes": "16277209088",
                "totalMemoryMB": 15523.15625
            }
        ],
        "glx_info": "",
        "initResult": 0,
        "valid": [
            "<b>Graphics card: </b> Orin"
        ]
    },
    "Processor": {
        "L4T version": "35.4.1",
        "OS": "Ubuntu 20.04.6 LTS ",
        "avxSupported": false,
        "coreCount": "8",
        "cpu": " ARMv8 Processor rev 1 (v8l)",
        "datetime": "2024-06-14 01:47:45 PM EEST",
        "hyperThreading": "0",
        "motherboard": "NVIDIA Orin NX Developer Kit, Unknown",
        "ramCapacity": "16.277209",
        "ramUsage": "",
        "ramUsed": "2.762150",
        "threadCount": "8",
        "valid": [
            "<b>Processor: </b>  ARMv8 Processor rev 1 (v8l)",
            "<b>Motherboard: </b> NVIDIA Orin NX Developer Kit, Unknown"
        ]
    },
    "ZED SDK": {
        "CUDA Toolkit version": "V11.4.315 -->located in /usr/local/cuda-11.4/bin/nvcc",
        "ZED SDK Version (Diag)": "4.1.2",
        "ZED SDK Version (RT)": "4.1.2",
        "ai": {
            "checkAI": false,
            "cudaVersion": 11040,
            "cudnnCudartVersion": 11040,
            "cudnnVersion": 8600,
            "cudnnVersionExpected": 8600,
            "loadAI": "TRT NOT FOUND",
            "tensorVersion": -1
        },
        "binFiles": [
            "libsl_ai.so",
            "libsl_zed.so",
            "libsl_zed_static.a"
        ],
        "resourcesFiles": [
            "positional_tracking_2.2.model"
        ],
        "resourcesFilesExpected": [
            "objects_performance_3.2"
        ],
        "valid": [
            "<b>ZED SDK version:</b> 4.1.2",
            "<b>CUDA version:</b> V11.4.315"
        ],
        "warning": [
            "<b>Object detection</b> module corrupted. Please reinstall the ZED SDK and enable the Object Detection option."
        ]
    }
}

I ran the diagnostics after flipping the cable. Below are the results.

{
    "AI Models": {
        "info": [
            "MULTI CLASS DETECTION is not optimized",
            "MULTI CLASS MEDIUM DETECTION is not optimized",
            "MULTI CLASS ACCURATE DETECTION is not optimized",
            "HUMAN BODY FAST DETECTION is not optimized",
            "HUMAN BODY MEDIUM DETECTION is not optimized",
            "HUMAN BODY ACCURATE DETECTION is not optimized",
            "HUMAN BODY 38 FAST DETECTION is not optimized",
            "HUMAN BODY 38 MEDIUM DETECTION is not optimized",
            "HUMAN BODY 38 ACCURATE DETECTION is not optimized",
            "PERSON HEAD DETECTION is not optimized",
            "PERSON HEAD ACCURATE DETECTION is not optimized",
            "REID ASSOCIATION is not optimized",
            "NEURAL DEPTH is not optimized",
            "NEURAL PLUS DEPTH is not optimized"
        ]
    },
    "Camera Test": {
        "InternalDevicesCount": 1,
        "ZEDCount": 1,
        "camera": {
            "Device ID": 0,
            "Init Output": "Error : Camera not found in system path"
        },
        "error": [
            "<b>Camera already in use</b> <br/> Several program cannot use the ZED at the same time, make sure to close them."
        ],
        "sensors": {
            "Firmware": 517,
            "Init Output": "OK",
            "Model": "ZED Mini (MCU)",
            "Serial Number": 13695003
        }
    },
    "Devices": {
        "CorruptedFirmware": false,
        "GMSL driver": "",
        "GMSL driver compatiblity": "Unknown",
        "GMSLList": [
        ],
        "MCUDetected": true,
        "USBList": [
            {
                "USB_path": "/3/3",
                "idProduct": "0x0a2b",
                "idVendor": "0x8087"
            },
            {
                "USB_path": "/3",
                "idProduct": "0x0608",
                "idVendor": "0x05e3"
            },
            {
                "USBMode": 2,
                "USB_path": "/2",
                "bDescriptorType": 1,
                "bDeviceProtocol": 0,
                "bLength": 18,
                "bMaxPacketSize0": 64,
                "bNumConfigurations": 1,
                "bcdDevice": "2.5",
                "bcdUSB": "2.0",
                "bcdUSBClass": 0,
                "bcdUSBSubClass": 0,
                "busNumber": 1,
                "device": "ZED mini MCU",
                "iManufacturer": 1,
                "iProduct": 2,
                "iSerial": 3,
                "idProduct": "0xf681",
                "idVendor": "0x2b03"
            }
        ],
        "USBMode": 3,
        "ZED MCU Module Detected": 63105,
        "error": [
            "<b>Camera not detected</b><br/> <b>Flip</b> the Type-C USB cable connected to the ZED or <b>replug</b> the camera. Make sure to use a USB 3.0 port."
        ],
        "warning": [
            "<b>No GMSL driver found.</b><br/> USB camera are not impacted by this."
        ]
    },
    "Graphics Card": {
        "deviceCount": 1,
        "deviceDriverVersion": 11040,
        "devices": [
            {
                "arch": "Ampere",
                "computeCapability": "8.7",
                "cores": 1024,
                "name": "Orin",
                "totalMemoryBytes": "16277209088",
                "totalMemoryMB": 15523.15625
            }
        ],
        "glx_info": "",
        "initResult": 0,
        "valid": [
            "<b>Graphics card: </b> Orin"
        ]
    },
    "Processor": {
        "L4T version": "35.4.1",
        "OS": "Ubuntu 20.04.6 LTS ",
        "avxSupported": false,
        "coreCount": "8",
        "cpu": " ARMv8 Processor rev 1 (v8l)",
        "datetime": "2024-06-14 01:49:11 PM EEST",
        "hyperThreading": "0",
        "motherboard": "NVIDIA Orin NX Developer Kit, Unknown",
        "ramCapacity": "16.277209",
        "ramUsage": "",
        "ramUsed": "2.782700",
        "threadCount": "8",
        "valid": [
            "<b>Processor: </b>  ARMv8 Processor rev 1 (v8l)",
            "<b>Motherboard: </b> NVIDIA Orin NX Developer Kit, Unknown"
        ]
    },
    "ZED SDK": {
        "CUDA Toolkit version": "V11.4.315 -->located in /usr/local/cuda-11.4/bin/nvcc",
        "ZED SDK Version (Diag)": "4.1.2",
        "ZED SDK Version (RT)": "4.1.2",
        "ai": {
            "checkAI": false,
            "cudaVersion": 11040,
            "cudnnCudartVersion": 11040,
            "cudnnVersion": 8600,
            "cudnnVersionExpected": 8600,
            "loadAI": "TRT NOT FOUND",
            "tensorVersion": -1
        },
        "binFiles": [
            "libsl_ai.so",
            "libsl_zed.so",
            "libsl_zed_static.a"
        ],
        "resourcesFiles": [
            "positional_tracking_2.2.model"
        ],
        "resourcesFilesExpected": [
            "objects_performance_3.2"
        ],
        "valid": [
            "<b>ZED SDK version:</b> 4.1.2",
            "<b>CUDA version:</b> V11.4.315"
        ],
        "warning": [
            "<b>Object detection</b> module corrupted. Please reinstall the ZED SDK and enable the Object Detection option."
        ]
    }
}
4

Hi @anand
it seems that the UVC module of the camera is not correctly initiated.
Are you using the original cable? Can you try with a different cable?

5

Hi!

Yes, I have tried with the original cable. Also I used the same cable with both ZEDM and ZED2i (this camera works). It’s still the same problem. I have tried with other cables too, it’s the same situation for both cameras.

One thing I noticed is whenever that ROS node is started, the camera is disconnected and connected again (as seen in kernal messages), and the UVC module is not started. Any idea why this would be happening?

Thanks!

6

Hi @anand
please send an email to support@stereolabs.com and add the diagnostic reports generated with different cables.

7

Update.

Had to provide external power to the camera to fix this issue. I used a TypeC Y adapter (https://shop.luxonis.com/products/oak-y-adapter) for that.

Thanks!