RealSense SDK 2.0

Install dependencies

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
sudo apt-get install git wget cmake build-essential
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

Install librealsense2

git clone https://github.com/IntelRealSense/librealsense.git
./scripts/setup_udev_rules.sh

Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15

./scripts/patch-realsense-ubuntu-lts-hwe.sh

Ubuntu 18/20 with LTS kernel (< 5.13)

./scripts/patch-realsense-ubuntu-lts.sh

Building librealsense2 SDK

mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install

Identifying a kernel

cat /proc/version_signature

Realsense-ros

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Usage Instructions

To start the camera node in ROS:

roslaunch realsense2_camera rs_camera.launch

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