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The predecessor I got the project from used some old realsense package. Getting both the new realsense-ros package and the therefore needed ddynamic_reconfigure both from github fixed the realsense related issues.

As for the teb errors. My predecessor pretty much built everything from source and since this project is my first contact with ros and ubuntu I had no idea that this isn't needed often. So I first tried to built teb from source too which didn't work. After removing it from my workspace and doing catkin_make clean, there were still teb related files in both devel and build directories. Deleting those solved all issues.