[Bug] Gemini 336L fails to initialize on Jetson Orin NX (JetPack 6.x) - Invalid Descriptor / No valid video chain

[wei920731-dot]

Describe the bug I am trying to run the Orbbec Gemini 336L on an NVIDIA Jetson Orin NX (JetPack 6 / Ubuntu 22.04) using ROS 2 Humble. Despite using a powered USB 3.0 Hub (5V/4A) and blacklisting uvcvideo, the camera fails to initialize. The ROS 2 launch file hangs at Loaded node, and dmesg shows config 1 has an invalid descriptor of length 0.

To Reproduce

Hardware Setup:

NVIDIA Jetson Orin NX (JetPack 6.x / L4T R36.x).

Orbbec Gemini 336L connected via a Powered USB 3.0 Hub (j5create JUH377).

Software Setup:

ROS 2 Humble.

OrbbecSDK_ROS2 (v2-main branch).

Installed SDK via deb (tried both v2.4.8 and v2.5.5).

Execution:

Blacklist uvcvideo via /etc/modprobe.d/ and extlinux.conf.

Run: ros2 launch orbbec_camera gemini_330_series.launch.py depth_width:=640 depth_height:=480 depth_fps:=30 color_width:=640 color_height:=480 color_fps:=30

Expected behavior The camera should start streaming ([INFO] ... Start stream), and topics should be published.

Actual behavior The launch process hangs indefinitely after loading the node. Kernel logs indicate a USB descriptor failure.

Logs

1. ROS 2 Launch Log (Hangs):

Bash

[INFO] [launch]: All log files can be found below ...
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [5564]
[component_container-1] [INFO] ... [camera.camera_container]: Load Library: .../liborbbec_camera.so
[component_container-1] [INFO] ... [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] ... [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] ... [camera.camera]: setUvcBackendType:libuvc
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'

(Hangs here forever, no "Start stream" message)

2. Kernel Log (dmesg):

Bash

[ 2067.534534] usb 2-1.1.1: new SuperSpeed USB device number 7 using tegra-xusb
[ 2067.559007] usb 2-1.1.1: config 1 has an invalid descriptor of length 0, skipping remainder of the config
[ 2067.559018] usb 2-1.1.1: config 1 has 1 interface, different from the descriptor's value: 7
[ 2067.614022] usb 2-1.1.1: Found UVC 1.50 device Orbbec Gemini 336L (2bc5:0807)
[ 2067.614041] usb 2-1.1.1: No valid video chain found.
3. lsusb -t (Device recognized as 5000M but no driver):

Bash

|__ Port 3: Dev 5, If 0, Class=Hub, Driver=hub/4p, 5000M
|__ Port 1: Dev 6, If 0, Class=Video, Driver=, 5000M
Environment (please complete the following information):

Camera: Orbbec Gemini 336L

OS: Ubuntu 22.04 (JetPack 6.x / Kernel 5.15)

Platform: NVIDIA Jetson Orin NX

ROS Distro: Humble

SDK Version: Tested v2.4.8 and v2.5.5 (ARM64)

Additional context

Cross-check: The camera and USB cable work perfectly on a Windows PC (USB 3.2, 30FPS) using Orbbec Viewer.

Power: I am using a dedicated powered USB Hub (5V/4A) to prevent power issues.

Troubleshooting tried:

Disabled USB autosuspend.

Blacklisted uvcvideo.

Tried different USB ports.

Re-plugged the device multiple times.

[wei920731-dot]

Describe the bug I am trying to run the Orbbec Gemini 336L on an NVIDIA Jetson Orin NX (JetPack 6 / Ubuntu 22.04) using ROS 2 Humble. Despite using a powered USB 3.0 Hub (5V/4A) and blacklisting uvcvideo, the camera fails to initialize. The ROS 2 launch file hangs at Loaded node, and dmesg shows config 1 has an invalid descriptor of length 0.

To Reproduce

Hardware Setup:

NVIDIA Jetson Orin NX (JetPack 6.x / L4T R36.x).

Orbbec Gemini 336L connected via a Powered USB 3.0 Hub (j5create JUH377).

Software Setup:

ROS 2 Humble.

OrbbecSDK_ROS2 (v2-main branch).

Installed SDK via deb (tried both v2.4.8 and v2.5.5).

Execution:

Blacklist uvcvideo.

Run: ros2 launch orbbec_camera gemini_330_series.launch.py ...

Expected behavior The camera should start streaming, and topics should be published.

Actual behavior The launch process hangs indefinitely. Kernel logs indicate a USB descriptor failure.

Logs (Paste the ROS 2 logs, dmesg logs, and lsusb -t output here as before)

OrbbecViewer Test (Crucial Context) I also attempted to run the official OrbbecViewer (Linux ARM64) directly on the Jetson to rule out ROS-specific issues.

Result: The Viewer could not detect any device, even though lsusb shows the camera is connected.

Comparison: The exact same camera and cable work perfectly on a Windows PC with OrbbecViewer.

Conclusion: This confirms the issue lies in the low-level USB communication or driver compatibility on JetPack 6, not within the ROS 2 wrapper itself.

Environment:

Camera: Orbbec Gemini 336L

OS: Ubuntu 22.04 (JetPack 6.x / Kernel 5.15)

Platform: NVIDIA Jetson Orin NX

SDK Version: Tested v2.4.8 and v2.5.5 (ARM64)

Troubleshooting tried:

Disabled USB autosuspend.

Blacklisted uvcvideo.

Used a powered USB Hub.

Tried different USB ports.

[ob-yalian]

@wei920731-dot Could you please confirm whether you have installed the udev rules ?
You can follow the installation guide here:
https://orbbec.github.io/OrbbecSDK_ROS2/en/source/2_installation/registration_script.html

Additionally, please try running the following command to check whether the camera device is correctly detected:

ros2 run orbbec_camera list_devices_node

Let me know the output so we can further diagnose the issue.

[wei920731-dot]

Hello, thank you for your response.

I have successfully configured the udev rules for both the Orbbec SDK v2.5.5 and the Orbbec ROS2 wrapper. Additionally, I confirmed that the device works normally when connected via USB 2.0.

However, I ran the commands you provided (presumably under the current connection), but no devices were detected.

If possible, could you please share the specific software versions you used during your internal tests on the Orin NX? I would like to replicate your exact setup to perform the tests again.

Thank you!

[wei920731-dot]

After re-testing, it feels like the issue might be related to this, though I'm not completely sure.
“usb 2-1.1: config 1 has an invalid descriptor of length 0” seems to be the main problem.
I’m using the original cable, and since I was concerned about power supply issues, I later added a j5create KaiJet USB 3.0 JUH340 to provide additional power, but it still doesn’t work.
Please advise—thank you!

[ob-yalian]

@wei920731-dot We tested the Gemini 336L on a Jetson Orin NX using a direct USB 3.0 connection, and the camera works normally.
The version we are using is the latest one available in the apt repository (v2.5.5).
Please refer to the documentation for installation details:
https://orbbec.github.io/OrbbecSDK_ROS2/en/source/2_installation/build_the_package.html

Also note that the ROS package already includes the SDK, so there is no need to install the SDK separately.