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Update librealsense installation instructions #384

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36 changes: 18 additions & 18 deletions docs/icub_operating_systems/icubos/install-librealsense.md
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`librealsense` is a cross-platform library provided by Intel that can be used to take advantage of the features of the Intel Realsense cameras.
After installing the [cuda libraries](./install-cuda-libraries.md), we can make the Realsense camera use also the gpu resources for better performances, enabling the cuda support.

In a terminal, clone the official repo with:
The installation procedure depends on the Jetpack version installed on your board.

```bash
git clone https://github.com/IntelRealSense/librealsense.git
```
## Jetpack 5.x.x

On Jetson board flashed with `Jetpack version 5.x.x`, you can follow the instructions to install `librealsense` with [Debian packages](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#4-install-with-debian-packages).

Install the librealsense required development packages:
## Jetpack 6.x.x

```bash
sudo apt install libssl-dev freeglut3-dev libusb-1.0-0-dev pkg-config libgtk-3-dev unzip -y
For Jetson Orin with `Jetpack version ≥ 6.0.0`, the proper procedure is to install this library [from source using the RSUSB backend](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#building-from-source-using-rsusb-backend), following the [libuvc_installation.sh](https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh) script.

First of all, clone the `librealsense` official repository, and then navigate into the `scripts` folder:

```sh
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense/scripts
```

Install the `udev` rules (the librealsense kernel patching procedure does not work with recent Jetpack versions):
For optimal performances, edit the script adding the following CMake options:

```bash
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
```cmake
-DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_CUDA=ON
```

Now you are ready to compile librealsense with Cuda support:
In the end, run the script:

```bash
cd librealsense
mkdir build && cd build
cmake ../ -DFORCE_LIBUVC=BOOL:ON -DCMAKE_BUILD_TYPE=Release -DBUILD_WITH_CUDA=BOOL:ON -DBUILD_EXAMPLE=BOOL:OFF
make -j2
sudo make install
```sh
./libuvc_installation.sh
```

For more information, refer to the [official documentation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md) provided in the repository.
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