To get the IR/Depth image processing for the Intel Realsense camera, the kernel module uvcvideo of the odroid has to be patched. In the newest kernel source files this patch should be included when compiling and flashing the eMMC (see Flashing-the-eMMC-(AutoNOMOS-Model-v3.1)). If you have an older system image (before end of April 2017) you should update this kernel module manually via following steps:

1. Download the patched uvcvideo module: uvcvideo.ko
2. Replace the unpatched module on odroid (/lib/modules/4.9.13/kernel/drivers/media/usb/uvc/uvcvideo.ko). E.g. copy it via ssh:

scp uvcvideo.ko [email protected]:/lib/modules/4.9.13/kernel/drivers/media/usb/uvc/

3. Restart the car

After that you should be able to see the IR and Depth images in RViz.

Updating Realsense (lib and ROS node)

pkill ros
apt update
apt upgrade -y
reboot

pkill ros
cd /opt/librealsense
git clean -fdx
git fetch
git checkout v2.17.0
./scripts/patch-realsense-ubuntu-odroid-xu4-4.14.sh
rm -rf build
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false -DCMAKE_BUILD_TYPE=Release
make uninstall && make clean && make -j1 && make install

rm -rf /opt/model_car/catkin_ws/src/realsense
mkdir -p /opt/realsense-ros/src/
cd /opt/realsense-ros/src/
git clone https://github.com/intel-ros/realsense
cd realsense
wget https://patch-diff.githubusercontent.com/raw/intel-ros/realsense/pull/523.patch
git config user.name "xyz"
git config user.email "[email protected]"
git am 523.patch
cd ../../
catkin config --cmake-args "-DCMAKE_BUILD_TYPE=Release"
catkin build -j2