• 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

• 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.