Contents

Prerequisites

To understand the content on this page, you should know how to Use docker Run a ros node

Content

To get the Jetson ready to allow x11 communication from inside the docker container you should run

xhost +local:docker

Now when you run docker you need to add the -e DISPLAY=0 tag 0 should be the default for the jetson's x11 server

you should now be able to run the realsense node in one instance of the docker container. Ensure you are using a command that looks like this: docker run -it --network=host --env DISPLAY=0 --privileged

this will run an interactive container and let you run the realsense node with

ros2 run realsense2_camera realsense2_camera_node

Now in another container with the same command run rviz by typing "rviz"

now you should have an rviz window opening and you can add a camera topic from one of the realsense's cameras.

in case you aren't familiar with RVIZ here's some relevant documentation