Install librealsense2 on Jetson nx

1, Prepare microSD card with JetPack4.5.1

- Download JetPack image

- Burn by balenaEtcher

2, Install ROS Melodic

- follow this wiki

http://wiki.ros.org/melodic/Installation/Ubuntu

3, Install Librealsense2 SDK

-Update Ubuntu

$ sudo apt-get update && sudo apt-get upgrade

-Download the complete source tree with git

$ git clone https://github.com/IntelRealSense/librealsense.git
$ cd librealsense

-Install requirements

$ 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 at

- Setup udev for realsense, please remove realsense from USB

$ ./scripts/setup_udev_rules.sh

-Build and install librealsense2 SDK

$ cmake ../ -DBUILD_EXAMPLES=true
$ sudo make uninstall && make clean && make && sudo make install

4, Install ROS Wrapper for RealSense device

-Set path for OpenCV

$ sudo ln -s /usr/include/opencv4/ /usr/include/opencv

-Create a catkin workspace Ubuntu

$ sudo apt install python-catkin-tools

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin init

- Clone the latest Intel RealSense ROS wrapper

$ cd ~/catkin_ws/src/
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/src
$ git checkout master
$ cd ..
$ rosdep install --from-path src --ignore-src -r -y
$ catkin build
$ cd ..
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

5, SLAM with RealSense
- Install components
imu_filter_madgwick, rtabmap-ros, robot_localization

$ sudo apt-get install ros-melodic-imu-filter-madgwick
$ sudo apt-get install ros-melodic-rtabmap-ros
$ sudo apt-get install ros-melodicc-robot-localization

- Get serial number from realsense device and put them in "opensource_tracking.launch"

$ rs-enumerate-device

- Running:

$ roslaunch realsense2_camera opensource_tracking.launch

- Visit
https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

- Improve performance cuda should be activated, however you need Python 3.8 and I did not try; 

$ cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

- Run with 1st terminal

$ roslaunch realsense2_camera rs_aligned_depth.launch

And 2nd terminal

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

https://qiita.com/k65c1/items/0d9039c021ecbb26b04e