xavier nx 安装realsense

1、安装realsense-viewer

git clone https://github.com/jetsonhacks/installRealSenseSDK
cd installRealSenseSDK/
sudo ./installLibrealsense.sh
realsense-viewer    # 测试

很可能会遇到无法定位软件包、无法满足依赖、密钥无法导入、包受损等问题，都是换网、换软件源就能解决（注意arm架构的源和x86的不一样）

中科大源：

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ bionic main universe restricted

2、安装realsense ros

mkdir -p realsense/src 
cd realsense/src
git clone https://github.com/IntelRealSense/realsense-ros
cd ..
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

我遇到的问题：
1、 cant find cv_bridge
因为xavier刷机版本是cv4，所以改动报错的文件：
sudo gedit /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
把include/opencv改成include/opencv4。
2、 cant find ddynamic_reconfigure
在src下：
git clone https://github.com/pal-robotics/ddynamic_reconfigure