Intel Realsense D435i settings - 1: Installation SDK, ROS

04 Nov 2020

Reading time : 2 minutes

Requirements - SDK

● Necessary for ROS too.

For Xavier here -> SDK version is v2.17.1 and need JetPack 4.1 for L4T 31.1 or have to be flashed again…
- video link or jetsonhacks article
For TX2 here -> SDK version is v2.13.0 and need JetPack3.2.1 for L4T 28.2 / L4T 28.2.1 or have to be flashed again…
- video link or jetsonhacks article
For Xavier NX, refer here and here

For Xavier NX and x86_64 desktop/laptop, refer here

$ 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
$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense && mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=Release
$ sudo make uninstall && make clean
$ time make -j8 && sudo make install

Trouble shooting : ‘Failed to set power state error’ or ‘UDEV-Rules are missing’

$ sudo cp <librealsense path>/config/99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules && sudo udevadm control --reload-rules && udevadm trigger
$ reboot

● ROS package

Intel Realsense2 ROS here
- For Xavier : -> ROS Wrapper 2.0 version should be v2.1.3 for SDK v2.17.1 down link

$ sudo apt install ros-<distro>-ddynamic-reconfigure
$ cd ~/catkin_ws/src && wget https://github.com/intel-ros/realsense/archive/<$version>.zip
$ unzip realsense-<$version>.zip
$ cd ..
$ catkin build realsense2_camera -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release -j8
$ source ./devel/setup.bash

● Disable Emitter

Disable Emitter using /usr/local/bin/realsense-viewer, save the json file and

Check “controls-laserstate=off” in the .json file
import the json file at the rs_camera.launch file as figure.