Repo for running RealSense D435i camera on Jetson AGX Orin

Precompiled libraries do not work. There is an option to install on native drivers from kernel, but that requires patching of kernel. Instead RSUSB Backend is installed from: https://github.com/realsenseai/librealsense/blob/master/doc/installation_jetson.md

1. Prep

curl -sSf https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
sudo apt-get install apt-transport-https
echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt-get update

2. Repo

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
cd scripts
bash libuvc_installation.sh

3. Connect camera and run

rs-enumerate-devices
rs-record -t 5 -f test.bag

4. For ROS Wrapper

cd ~/ros2_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master

sudo apt-get install python3-rosdep -y
sudo rosdep init
rosdep update
rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y

colcon build

Basic command for running camera is:

ros2 launch realsense2_camera rs_launch.py
ros2 launch realsense2_camera rs_launch.py     enable_depth:=true     enable_color:=true     align_depth.enable:=true     pointcloud.enable:=true     depth_module.depth_profile:="640x480x15"     rgb_camera.color_profile:="640x480x15"
ros2 launch realsense2_camera rs_launch.py     enable_depth:=true     enable_color:=true     align_depth.enable:=true     pointcloud.enable:=true     enable_gyro:=true     enable_accel:=true     gyro_fps:=200     accel_fps:=200     depth_module.depth_profile:="640x480x15"     rgb_camera.color_profile:="640x480x15"