AAPopular cameras supported out of the box include IMX219 camera modules, such as the Raspberry Pi Camera Module V2. For the CSI camera, basically you could benefit from the Nvidia guide
Taking Your First Picture with CSI or USB CameraNVIDIA Developer

You may need to connect your Jetson to a display before attempting NVIDIA's CSI camera guide.
The Holybro Jetson carrier board can have two CSI cameras connected. To give a short intro, you can try the following commands in the terminal in case your carrier board is connected to a display screen:
Copynvgstcapture-1.0

To open the capture on a specific CAM, you can pass the following (assuming we want to test cam1 on Orin_camera 1):
Copynvgstcapture-1.0 sensor-id=1