Jetson - Compile RealSense cameras

First of all, check the intel realsense documentation: https://dev.intelrealsense.com/docs/compiling-librealsense-for-linux-ubuntu-guide

I followed most of the steps but I had to change some to make my cameras D435 and T265 work properly

¡WARNING!: Switch the cameras off before compiling the realsense libraries.

1. Dependencies

   sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   

   sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   

2. Clone the following repository to get all the libraries needed

   git clone https://github.com/ageve/librealsense
   

   cd librealsense
   

3. Checkout version 2.35.2 (last version at June 22, 2020) :

   There is a bug that make the compilation fail, follow this ticket to solve it:

   https://github.com/IntelRealSense/librealsense/issues/6573#issuecomment-643725732

   Checkout version 2.35.2:

   git checkout v2.35.2
   

4. Rules

   sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
   

   sudo udevadm control --reload-rules && udevadm trigger
   

5. Create build folder and open it

   mkdir build && cd build
   

6. Compile using CMAKE

   Be sure to write the following inside ~/.bashrc :

   #=============
   # CUDA
   #=============
   export CUDACXX=/usr/local/cuda-10.0/bin/nvcc
   export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/cuda/lib64
   export PATH=${PATH}:/usr/local/cuda/bin
   

   In my case I am using cuda-10.0, change this with your installed version.

   Compile:

   cmake ../ -DFORCE_LIBUVC:bool=true -DFORCE_RSUSB_BACKEND:bool=true -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_CUDA:bool=true -DBUILD_PYTHON_BINDINGS=bool:true
   

7. Install

   If this is not the first time you install it:

   sudo make uninstall && make clean && make -j4 && sudo make install
   

   If it is the first time:

   sudo make clean && make -j4 && sudo make install
   

8. To use this libraries with ROS2:

   sudo ln -s /usr/local/lib/librealsense2.so.2.35 /usr/lib/aarch64-linux-gnu/librealsense2.so
   

9. Test

   realsense-viewer