tf2_ros_py not available for Foxy so wrapper cannot be installed

[jidnyesha-patil]

I am trying to install the ROS wrapper for Realsense cameras on Jetson Orin NX. The Orin NX supports only Ubuntu 20.04 so I installed ROS Foxy. The rosdep install step gives error saying
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
realsense2_camera: Cannot locate rosdep definition for [tf2_ros_py]
I realize that rosdep cannot find the package named tf2_ros_py but the there is no version of the package for foxy.
Any explanation and solutions will be appreciated.

[MartyG-RealSense]

Hi @jidnyesha-patil Support for ROS2 Foxy and Galactic was recently removed from the RealSense ROS2 wrapper (3 weeks ago at the time of writing this), as described at IntelRealSense/librealsense#11953 and at the wrapper documentation extract below. The wrapper now supports ROS2 Humble and Iron.

According to an announcement from Nvidia at the link below, JetPack 6 will support Orin and Ubuntu 22.04. JetPack 6 is due for release in Q3 2023 (Q3 is the quarter of the year between July and September) so it should be available soon.

https://forums.developer.nvidia.com/t/jetson-software-roadmap-for-2023/238889

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If you need to use Foxy and Ubuntu 20.04 then a workaround may be to build a 'forked' version of the 4.54.1 wrapper created by a RealSense ROS user that pre-dates the 3-weeks-ago changes in the official wrapper, and use the Git address of that fork in the git clone installation command. The fork for 4.54.1 at the link below dates from last month at the time of writing this.

https://github.com/MichaelKerley/realsense-ros

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You could also build from a fork of 4.51.1, which still has support for Foxy and Ubuntu 20.04, and match it with librealsense 2.51.1. Here is an example of a 4.51.1 fork (there are others available).

https://github.com/HedgeHao/realsense-ros

[jidnyesha-patil]

Thank you for the explanation and solutions @MartyG-RealSense. Really appreciate the help!

[MartyG-RealSense]

You are very welcome. I'm pleased that I could help. :)

[privvyledge]

@MartyG-RealSense's suggestion works, but if you don’t want to clone another repository (a fork of this repository), you can download the last Release/Tag from this repository, i.e., 4.54.1. I verified that it is working with Foxy and fixed the rosdep issue.

You could download the zip using wget or run git clone --depth 1 https://github.com/IntelRealSense/realsense-ros.git -b 4.54.1. Another option, if you have already cloned the main branch, is to git checkout that specific tag or any past tag.

[MartyG-RealSense]

Thanks so much @privvyledge for your advice to @jidnyesha-patil :)