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Intel RealSense (optional)

The F1TENTH cars don't come with an Intel RealSense depth camera, but roboracer_ws has scripts for adding one. They date from the older container workflow and JetPack 6, so expect to adapt them on a current car.

Both scripts use Intel's librealsense source in ~/roboracer_ws/external/librealsense. The older scripts/checkout.sh downloads it, at a version made for L4T 36 (JetPack 6).

Using the RealSense takes two steps:

  1. Build and install the kernel modules, on the car itself (not inside a container): 
    cd ~/roboracer_ws
./scripts/install_realsense_kernel_patch.sh
  2. Build and install the librealsense library inside the container. In the older container workflow this happens when the container is built: 
    ./scripts/install_realsense_library.sh