install_realsense_sdk.md

librealsense

preparations

export REALSENSE_SOURCE_DIR=$HOME/projects/librealsense/
sudo apt-get install guvcview 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
git clone https://github.com/IntelRealSense/librealsense.git $REALSENSE_SOURCE_DIR
mkdir $REALSENSE_SOURCE_DIR/build
cd $REALSENSE_SOURCE_DIR/build

build

export REALSENSE_INSTALL_PREFIX=/opt/realsense
sudo mkdir -p $REALSENSE_INSTALL_PREFIX; 
sudo chown $USER:$USER -R $REALSENSE_INSTALL_PREFIX # not relay needed -> you could run _make_ followed by _sudo make install_
cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=false -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DCMAKE_INSTALL_PREFIX=$REALSENSE_INSTALL_PREFIX
make install

extend the ld search path

sudo sh -c "echo $REALSENSE_INSTALL_PREFIX/lib > /etc/ld.so.conf.d/realsense.conf"
sudo ldconfig

udev rules

cd ~/projects/librealsense/
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger

make cmake config avaliable

echo "export realsense2_DIR=/opt/realsense/lib/cmake/realsense2" >> ~/.bashrc

reboot

reboot

test

/opt/realsense/bin/realsense-viewer

ROS

export REALSENSE_ROS_WS=$HOME/projects/ros/ws00
sudo apt install ros-noetic-ddynamic-reconfigure
git clone https://github.com/IntelRealSense/realsense-ros.git $REALSENSE_ROS_WS/src/realsense-ros
cd $REALSENSE_ROS_WS
catkin_make

UNISTALL

rm -rf /opt/realsense
sudo rm /etc/ld.so.conf.d/realsense.conf
sudo ldconfig
sudo rm /etc/udev/rules.d/99-realsense-libusb.rules
sudo udevadm control --reload-rules && udevadm trigger

→ remove the line " console export realsense2_DIR=/opt/realsense/lib/cmake/realsense2 " from ~/.bashrc

Source : https://answers.ros.org/question/363889/intel-realsens-on-ubuntu-2004-ros-noetic-installation-desription/