The solution to the version problem encountered by the realaense D435I camera using the ROS driver

My feeling is that there needs to be a match between the firmware of the D455I (I used 5.12.15.50) and librealsense2 (I used 2.51) and the ROS
wrapper.

Step1. removed any previous install related to ‘realsense’:

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

Step2. installed librealsense2 according to

https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md >Installing the packages

Make sure to unplug the sensor at the end, wait 10 seconds, then plug it
back again. Test

realsense-viewer

and saw the depth camera is operational.

Step3. Check version of librealsense that was just installed:

dpkg -l|grep realsense

where I got 2.51

Step4. Firmware upgrade/downgrade of the D455 to match the librealsense 2.51

Now my interpretation is that we need to check the column ‘SDK ver’ on https://dev.intelrealsense.com/docs/firmware-releases and match that to, in my case, librealsense 2.51

Save the bin file and flash it to the D455 using https://www.intelrealsense.com/developers/ > Firmware update guide >'Firmware Update Tool (rs-fw-update)'

Make sure to unplug the sensor, wait 10 seconds, then plug it back again.

Step5. Install RealSense Wrapper

https://github.com/IntelRealSense/realsense-ros > Method 2

Step6. Test in ROS:

roslaunch realsense2_camera rs_camera.launch

Troubleshooting: in case of errors, unplug the sensor, wait 10 seconds, then plug it back again. I tested this approach on a D435 and was successfull too. It worked on Ubuntu 20.04 native as well as a virtual image on VMWare Player 17.