From 9f4850fc42a2b18cad5c8cdd91e45a9378f0d9ec Mon Sep 17 00:00:00 2001
From: robotdev <tingfan@meta.com>
Date: Sat, 27 Jan 2024 23:29:01 -0800
Subject: [PATCH 1/2] add support for realsense camera force using libusb to
avoid v4l2/conda compatbility issue
---
patch/ros-humble-librealsense2.patch | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
create mode 100644 patch/ros-humble-librealsense2.patch
diff --git a/patch/ros-humble-librealsense2.patch b/patch/ros-humble-librealsense2.patch
new file mode 100644
index 000000000..8cd9f0b83
--- /dev/null
+++ b/patch/ros-humble-librealsense2.patch
@@ -0,0 +1,16 @@
+index ce3b560..ffa6612 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -11,10 +11,7 @@ include_directories(${REPO_ROOT})
+ include(CMake/lrs_options.cmake)
+ include(CMake/connectivity_check.cmake)
+ #Deprecation message, should be removed in future releases
+-if(${FORCE_LIBUVC} OR ${FORCE_WINUSB_UVC} OR ${ANDROID_USB_HOST_UVC})
+- MESSAGE(DEPRECATION "FORCE_LIBUVC, FORCE_WINUSB_UVC and ANDROID_USB_HOST_UVC are deprecated, use FORCE_RSUSB_BACKEND instead")
+- set(FORCE_RSUSB_BACKEND ON)
+-endif()
++set(FORCE_RSUSB_BACKEND ON)
+
+ # Checking Internet connection, as DEPTH CAM needs to download the FW from amazon cloud
+ if(IMPORT_DEPTH_CAM_FW AND NOT INTERNET_CONNECTION)
+
From bafa1e1b3a0a29a2e6ab7854027dc15659592d7b Mon Sep 17 00:00:00 2001
From: robotdev <tingfan@meta.com>
Date: Sun, 28 Jan 2024 00:48:52 -0800
Subject: [PATCH 2/2] add realsense to linux_64 build
---
vinca_linux_64.yaml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index b1f484903..86bf3210b 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -378,7 +378,7 @@ packages_select_by_deps:
# - launch-system-modes
# - lgsvl-msgs
# - libmavconn
- # - librealsense2
+ - librealsense2
# - marti-can-msgs
# - marti-common-msgs
# - marti-dbw-msgs
@@ -428,9 +428,9 @@ packages_select_by_deps:
# - rc-reason-clients
# - rc-reason-msgs
# - rcss3d-agent
- # - realsense2-camera
- # - realsense2-camera-msgs
- # - realsense2-description
+ - realsense2-camera
+ - realsense2-camera-msgs
+ - realsense2-description
# - realtime-tools
# - rmf-battery
# - rmf-building-map-msgs