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Actually a fresh install did the trick. On the NUC the SDK1.0 and the realsense_camera has been installed before. Seems like the uninstall is not clean enough or something failed for me.
Nevertheless in my case the installation of sdk2.0 and realsense2_camera did not work even after I completely wiped ROS and everything else related to it. Only a fresh install of ubuntu worked.

Cheers