====== Installing librealsense2 inside chroot Ubuntu Bionic with ROS Melodic ======

===== Installing librealsense in ubuntu =====

  * In debian use a recent kernel (>5 if possible)
  * In the chroot follow these instructions (only section "Installing the packages"):

[[https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md]]

  * Remember to install development packages
  * From the chroot copy the realsense udev rules into the debian host system:

  sudo cp data/chroot/ubuntu-bionic/lib/udev/rules.d/60-librealsense2-udev-rules.rules /etc/udev/rules.d/

  * Restart udev in the debian host system
  * Reconnect the USB realsense cable (use a USB3 port)
  * In ubuntu, add user to video group:

  sudo adduser _user_ video

  * logout and login to ubuntu
  * Test realsense with client test program:

  realsense-viewer

  * Consider upgrade realsense firmware

===== ROS =====

  * Configure a catkin workspace
  * Install the following dependency:

  sudo apt install ros-melodic-ddynamic-reconfigure

  * Follow the instructions from Step 3 from:

[[https://github.com/IntelRealSense/realsense-ros]]

  * To test ros module:

  roslaunch realsense2_camera rs_camera.launch

  * Run rviz in another console.