Add Jetson Orin point & depth cloud guide and configuration

[NamaiBest]

Summary

This pull request adds Jetson Orin / JetPack 6 / Ubuntu 22.04 / ROS2 Humble specific documentation and configuration to the repo, with a focus on the Intel RealSense D435i camera.

What’s included:

• A dedicated README with step-by-step instructions for Jetson Orin users, focusing on setting up the Intel RealSense SDK and ROS2 Wrapper for point cloud and depth streaming.
• A custom YAML configuration file (realsense_config.yaml, placed in realsense2_camera/launch/) with stable and tested parameters for Jetson platforms.

Hardware & System Specs:

• Camera: Intel RealSense D435i
• Board: NVIDIA Jetson Orin Nano Developer Kit
• JetPack: 6.0 [L4T 36.2]
• OS: Ubuntu 22.04
• ROS2: Humble
• Connection: USB 3.2 cable (even with this, default config is often not sufficient)

Motivation & Details:

• The default configuration, even using a USB 3.2 cable, is not enough for reliable point cloud and depth streaming on Jetson Orin with the D435i.
• I considered creating a separate launch file or even a dedicated Jetson fork, but after reviewing the documentation and repo structure, I opted for a non-intrusive approach: just adding a well-tuned YAML file for Jetson users.
• This keeps the main repo and launch structure undisturbed, while making Jetson/D435i integration easy for new users.

Credits:

Jetson Orin/D435i documentation, configuration, and testing by NamaiBest, w.r.t. solved issue: #3364 thanks to @MartyG-RealSense .

Non-intrusive changes:

• A new README is added for Jetson users.
• Jetson-specific files and guides are added only.
• Main repo structure and upstream workflows are fully preserved.

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Please let me know if you’d like any adjustments, or if there are Jetson-specific issues that should be further clarified in the documentation.

[sysrsbuild]

Can one of the admins verify this patch?

[NamaiBest]

Kindly verify and update the changes. I have changed the actual readme, instead I suggest add this aswell for jetson users besides the original readme.md

[Nir-Az]

Hi @NamaiBest can you please reopen a PR based on rso2-development branch and target it as well?

[NamaiBest]

Hi @Nir-Az,
The thing is, the patch and the yaml file that I have fine tuned is made keeping in mid the rs_launch.py on the main ros2-master branch. I can see that the same rs_launch.py on the ros2-development branch has slightly different conent. I am sure that this enhances the performance of that aswell for Jetson users, but mainly this is targetting the ros2-master rs_launch.py, hence the PR is directed towards that.

With that said if theres anything else I need to do kindly let me know.
I also missed something. The readme.md file in this Jetson Modified file is the main readme.md, not a separate one for Jetson users. Please adjust it accordingly while merging.

[Nir-Az]

@NamaiBest out flow is developing in ros2-development branch and once we have a validate version we copy it to ros2-master as is.
We do not update ros2-master manually