Intel RealSense Package for ROS on NVIDIA Jetson TX

Intel provides an open source ROS Package for their RealSense D400 series cameras. Here we install the package on a NVIDIA Jetson TX development kit. Looky here:


The RealSense D400 cameras are the next generation of the Intel RealSense camera product line. In the video, we install a ROS driver for a RealSense D435 camera, a device well suited towards robotic applications. The size of the D435, along with convenient mounting options, provide for a nice mechanical packaging solution for adding a RGBD camera to your project.


There are two prerequisites for installing the RealSense ROS package on the Jetson. The first is to install the librealsense 2 camera driver library on the Jetson. We cover the procedure in this article: Install Intel RealSense D400 camera driver.

The second prerequisite is to install Robot Operating System (ROS). A short article Robot Operating System (ROS) on NVIDIA Jetson TX Development Kits is available.

Install RealSense Package for ROS

There is a convenience script to install the RealSense ROS package on the JetsonHacks account on Github called installRealSense2ROSTX.

After the prerequisites above are installed:

$ git clone
$ cd installRealSense2ROSTX
$ ./installRealSense2ROSTX

Where catkin workplace name is the name of the catkin_workspace to place the RealSense ROS package. If the workspace name is not specified, the installation takes place in the default catkin workspace name, catkin_ws.

The install script works with either a Jetson TX1 or a Jetson TX2.

There are several launch files available. Please refer to the Intel-ROS RealSense repository on Github for examples.


  • In the video, the installation takes place on a Jetson TX2 running L4T 28.2 (JetPack 3.2).
  • An Intel RealSense D435 is being used in the video.
  • Version v2.0.3 of the intel-ros realsense package is installed
  • Version v2.10.4 of librealsense 2 is installed on the Jetson
  • ROS Kinetic


  1. Would architectural hints help?
    Something like
    -D EXTRA_C_FLAGS=”-mcpu=cortex-a57+crypto -ftree-vectorize -mfloat-abi=hard”
    -D EXTRA_CXX_FLAGS=”-mcpu=cortex-a57+crypto -ftree-vectorize -mfloat-abi=hard”

  2. I’m encountering this error after I entered “./installRealSense2ROSTX”:

    ERROR: the following packages/stacks could not have their rosdep keys resolved
    to system dependencies:
    realsense2_camera: Cannot locate rosdep definition for [librealsense2]
    ./ line 88: syntax error: unexpected end of file

    How do I solve it?

  3. Very cool! Would I be able to pull this off using a Jetson Nano? I’ve been trying using the Realsense on an RPiB+ and it is a nightmare.

  4. Is it possible to grab an OS image of this and post it as well? I know images can be easily grabbed and burned on an RPi

  5. Does Realsense D435 with ROS work with Jetson Nano, Ubuntu 18.04, ROS melodic?

    I tried, but got error


    ERROR: the following packages/stacks could not have their rosdep keys resolved
    to system dependencies:
    realsense2_camera: No definition of [librealsense2] for OS version [bionic]
    ./ line 88: syntax error: unexpected end of file


    Can you help to solve this.
    Note:D435 with ‘realsense-viewer’ works fine in Jetson Nano.

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