D555 has no RGB image on Jetson Thor

I am trying to get Realsense D555 to work with Jetson Thor (with Jetpack 7.0)

I was able to build Realsense SDK 2.0 v2.57.5 from source per instruction in https://github.com/realsenseai/librealsense/blob/r/257_5/doc/installation_jetson.md. I was using the following flags:

-DBUILD_WITH_DDS=ON -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true

Then I ran realsense-viewer and I was able to view both rgb images and stereo depth images.

When I wanted to add python wrapper for realsense. I uninstall the previous realsense sdk build, and re-built it with the following flags:

-DBUILD_WITH_DDS=ON -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_GRAPHICAL_EXAMPLES=true

Then I ran realsense-viewer and somehow, the rgb image is blank:

The ros2 topic is still showing the correct topics as shown below. I am also able to view the rgb image in rqt_image_view if i select topic /realsense/D555_409122300723_Color

/parameter_events

/realsense/D555_409122300723_Color

/realsense/D555_409122300723_Depth

/realsense/D555_409122300723_Infrared_1

/realsense/D555_409122300723_Infrared_2

/realsense/D555_409122300723_Motion

/rosout

If I ran one of the python wrapper example, ros2 run realsense2_camera realsense2_camera_node, the image for topic /camera/camera/color/image_raw is blank as well.

I tried Realsense SDK 2.0 v2.57.3 and v2.57.4, and both have the same issue as well. Then i re-build the Realsense SDK without pyrealsense2 flags and I am still having NO RGB IMAGE.

May I know what I did wrong? How to get the RGB image back?