Running Realsense D457 in GL26

This specific guide is intended for clients who wish to use the Realsense D457 Camera. Note that the GL26 is capable of supporting up to three Realsense cameras.

Overview

In the upcoming sections, we will guide you through the process of reflashing the PCIe-GL26 using a pre-built system image provided by Neousys.

Similar to the Jetson Xavier NX Developer Kit, the PCIe-GL26 series requires an external Host Machine for system installation. You'll need a micro USB to USB Type-A cable to reflash the NRU series from this Host Machine.

In this user guide, we outline the process of reflashing the GL26 system. While we demonstrate these steps using a Virtual Machine (VM) via VirtualBox, you can choose between using a VM or proceeding without one, depending on the specific conditions of your device.

1. Prerequisites & Setup Host Machine

Create a New Virtual Machine(VM) fits below requirements

• Host Machine (VM)

  • x86 computer

  • Memory: 8G (minimal) or 16G+ (recommended)

  • Storage: 128G (minimal) or 256G+ (recommended)

  • Keyboard & Mouse

  • Wired Network Connection

  • Power Supply

• 1x USB Cable

  • USB 2.0 Type A to micro USB Type B Cable

• 1x USB Stick for bootable Ubuntu USB stick (if you haven't installed Ubuntu on the Host Machine)

  • Storage: 4GB (minimal)

• 1x NVIDIA Jetson Xavier 8GB / 16GB NX Module

• 1x NRU Series barebone and power supply

Pre Download Files & Images

• Please contact your sales representative to get the NRU NAS download link and password.

• Download files & system.img in PCIe_GL26_xxx_Realsense folder

Ubuntu 18.04.2 LTS Installation

• Ubuntu 18.04.2 Image could be found [here]

• We recommend to install the VM in the manual way to avoid unexpected issue.

• On the settings page, select the downloaded image and insert it into the CD-Drive.

• After complete the ubuntu installation, update ubuntu package. sudo apt-get update

2. Prepare a Host Machine, Install NVIDIA SDKManager, and Get the L4T folder

• Install NVIDIA SDKManager in Host Machine

• Launch SDKManager with sdkmanager --archivedversions to get all JetPack versions

• Install JetPack 4.6.1 for Jetson Xavier NX using NVIDIA SDKManager to obtain the L4T folder. This folder includes the flash.sh file needed to flash the system image. Note that connecting the GL26 is not required for this step.

• Uncheck all Jetson SDK Components

• Once the download is complete, a window will appear. Click on "Skip" to proceed.

• The expected L4T folder path will be $HOME/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_XAVIER_NX_TARGETS/Linux_for_Tegra

• Put PCIe-GL26 into recovery mode, and connect PCIe-GL26 with Host Machine via a USB to micro USB cable.

• Flash NRU once (without any SDK components) by NVIDIA SDKManager to get a completed L4T folder.

3. Flash with Neousys' Pre-built System Image

There are a couple of files involved in the reflash process:

• A compressed file covers pinmux, device tree, and flash script.

• A system image covers Jetson OS, kernel image, startup scripts, and camera driver for our selected cameras.

3-1. Download the Pinmux, Device Tree, and System Image from NRU NAS

• Download gl26_0519_1628.tar.gz to your L4T folder and uncompressed it.

L4T=$HOME/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_XAVIER_NX_TARGETS/Linux_for_Tegra
cd $L4T
tar zxvf gl26_0519_1628.tar.gz

• Download system.img to your L4T/bootloader

3-2a. Flash with Full System Image + Device Tree

• Boot PCIe-GL26 into recovery mode

• Connect Host Machine with PCIe-GL26 via USB to micro USB cable

• In your VM's USB settings, make sure to adapt both the GL26 (listed as NVIDIA Corp...) and any additional USB device you plan to use. Choose either USB 3.0 or 2.0 based on what your devices support. For this guide, USB 3.0 is utilized.

• Execute below command

L4T=$HOME/nvidia/nvidia_sdk/JetPack_4.6.1_Linux_JETSON_XAVIER_NX_TARGETS/Linux_for_Tegra
cd $L4T
sudo ./flash_gl26_full_withoutImageRebuilt.sh

• If you encounter a specific message in the terminal, it could be due to the USB disconnecting after executing the flash command. To resolve this, unplug and then re-plug the USB connector once the flash command has been executed and after hearing the USB disconnect sound.

You should see the success message after everything is done.

4. Initial Script After First Boot & Start Using Realsense Cameras

• Set the GL26 to normal mode

• Power up GL26

• Extract all files from the 3d457.tar.gz archive and place them in the $HOME directory

• Execute the command

• sudo ./copyfile.sh reboot

• *Default password:"neo"

• Make sure each camera is connected to a different group on the GL26 if you want to use multi cameras, as illustrated in the image below.

To operate a single camera, you can use the RealSense-Viewer available on the desktop. If you wish to operate multiple cameras, modify the parameters in the file according to the RealSense-Viewer-3.desktop guidelines.