INSTALL - Realsense D435i

1. Jetson Orin Kernel Builder

jetson-orin-kernel-builder

Tools to build the Linux kernel and modules on board the Jetson AGX Orin, Orin Nano, or Orin NX. This tool is designed for beginning to intermediate users. Be sure to read the entire document in the repository before proceeding.

git clone https://github.com/jetsonhacks/jetson-orin-kernel-builder.git
cd jetson-orin-kernel-builder

Getting Kernel and Module Sources

Run the following from the repository root to fetch the kernel and module sources:

./scripts/get_kernel_sources.sh

Editing the Kernel Configuration

Edit the kernel-builder configuration using the provided GUI script:

./scripts/edit_config_gui.sh

You can use the GUI to set device and kernel options:

Kernel configuration GUI

Searching for the CH341 Driver

Use Ctrl+F to search for CH341.

Search for CH341

Next, click the letter N to change it to M for the CH341 Single Port Driver so it is built as a module.

Set CH341 to Module (M)

Use Ctrl+F to search for HID_SENSOR_HUB.

Search for HID_SENSOR_HUB

Next, click the letter N to change it to M for the HID Sensors framework support so it is built as a module.

Use Ctrl+F to search for ACCEL_3D.

Search for HID_SENSOR_HUB

Next, click the letter N to change it to M for the HID Accelerometers 3D so it is built as a module.

Use Ctrl+F to search for GYRO_3D.

Search for HID_SENSOR_HUB

Next, click the letter N to change it to M for the HID Gyroscope 3D so it is built as a module.

When finished, save and quit the configuration editor to apply the change.

Building the Kernel Image

Run the kernel build and module installation scripts from the repository. This step may take up to 30 minutes.

./scripts/make_kernel.sh

Copy the path to the generated kernel image. You will need it later

Kernel build output path

Next, you will edit the build_info.txt file

gedit build_info.txt

Edit the document to include the path to the kernel image you copied earlier.

Kernel build output path

Building the Kernel Modules

Build the kernel modules using the provided script.

./scripts/make_kernel_modules.sh

When prompted Do you want to install the modules? Type N and press Enter.

Installing a New Modules

Run this script to get Module information.

./scripts/module_info.sh -s CH34

Look for the module name ch341 and see if it is in the right location:

Kernel build output path

Using the module location make sure it is in there:

ls /usr/src/kernel/kernel-jammy-src/drivers/usb/serial/ch341.ko

Output should be something like this:

Kernel build output path

More detailed information about the module by running:

./scripts/module_info.sh CONFIG_USB_SERIAL_CH341
Kernel build output path

Copy the ch341 module to the current directory: (Make sure to use the correct path you found when you located the module earlier)

cp /usr/src/kernel/kernel-jammy-src/drivers/usb/serial/ch341.ko .

Create an install module script:

./scripts/install_module_author.sh ch341 drivers/usb/serial

Use the script to install the module (type ‘y’ when prompted):

./install_module_ch341.sh

Output should be something like this:

Kernel build output path

verify the module is installed:

lsmod | grep ch341

Output should be something like this:

Kernel build output path

Installing the Kernel Image

Run the following script to install the kernel image:

Make a backup of your current kernel image:

cd /boot/extlinux/
sudo cp extlinux.conf extlinux.conf.original

Edit the file:

sudo gedit extlinux.conf

Make a backup copy of the Image (use a new terminal window):

cd /boot
sudo cp Image Image.backup

Go back to the extlinux.conf file and unccomment the Label Backup lines:

Pre-Edit

Kernel build output path

Post-Edit

Kernel build output path

Copy line 10 and replace line 29 like the image below :

Kernel build output path

When complete Save and close the file

Go back to jetson-orin-kernel-builder directory:

cd ~/jetson-orin-kernel-builder

Copy the kernel image:

sudo cp /usr/src/kernel/kernel-jammy-src/arch/arm64/boot/Image /boot/Image

Reboot your Jetson:

JetPack 6 Orin Kernel Builder Video Walkthrough

This process applies to JetPack 6. A supporting walkthrough video is available on YouTube.

  1. Jetson Orin helper: JetsonHacks jetson-orin-librealsense

    Clone the JetsonHacks helper repository and follow its README for Jetson-specific build and install instructions:

    git clone https://github.com/jetsonhacks/jetson-orin-librealsense.git
cd jetson-orin-librealsense/build

Run this patch

./patch-for-realsense.sh

Build the Modules:

Switch over to the kernel building directory:

cd ~/jetson-orin-kernel-builder/

Run the script to install the modules:

./scripts/make_kernel_modules.sh

When prompted Do you want to install the modules? Type N and press Enter.

Complete a checksum:

cd ~/jetson-orin-librealsense/
sha256sum -c install-modules.tar.gz.sha256

The checksum should look something like this:

Kernel build output path

Expand and install modules directory:

tar -xzf install-modules.tar.gz
cd install-modules

Run the install script :

sudo ./install-realsense-modules.sh

Install librealsense

Register the Intel RealSense public key:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

Add the server to the list of repositories:

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

Install the RealSense SDK 2.0:

sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev

With the installation complete, reconnect the RealSense device:

realsense-viewer

Update the camera firmware to the latest version:

Kernel build output path

Other Resources

Installing Intel RealSense SDK 2.0: Jetson Hacks install Intel RealSense

Product page: Intel RealSense D435i

Getting started: RealSense developer docs