Questions about libreansense2* & ros-*-librealsense2 packages

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Hey folks!

When working with ROS, there are two ways of installing the Intel RealSense Debian packages, by following Intel's documentation, or by installing the ROS-packaged RealSense.

1- From Intel's documentation

Reference: https://github.com/IntelRealSense/lib... Packages: libreansense2 and libreansense2-dev, version 2.50.

2- From the ROS community

Both libraries and headers are packaged into ros-noetic-librealsense2, also version 2.50.

Until this point, so far, so good.

However, for the sake of simplicity, if we decide to use the ros-noetic-librealsense2 because we already have the ROS repositories configured on Ubuntu, we'll be missing the other RealSense packages from Intel, for example, the librealsense2-utils, librealsense2-dkms, librealsense2-udev-rules, and possibly more, like librealsense2-net, librealsense2-gl, and their respective -dev as well.

So, what's the point of having only ros-noetic-librealsense2?

Can the ros-noetic-librealsense2 be used alone in the runtime without the Utils/DKSM without any issues? Intel says: "While we strongly recommend using DKMS package whenever possible".

Do the latest Kernel (from Ubuntu 20.04.3 (Linux 5.13)) includes the required code, eliminating the need for the librealsense2-dkms? While on Ubuntu 20.04 (Linux < 5.4) and 16.04 & ROS Kinetic we still need the DKMS?

At the end of the day, if we also need to install the RealSense Utils and DKMS from the Intel repositories, then, it might be better to not use the ros-noetic-librealsense2, and stick with all packages from Intel, to keep it consistent.

Cheers!