First, please clone this repo to both your host machine and Intel Joule.
git clone https://github.com/ramonidea/prl_wireless_perception
./Joule_Install/install.sh
Please ssh to your Intel Joule, and run the above bash command. The bash script will help you to install ROS and necessary libraries.
./RealSense_Install/install_realsense.sh
By running this bash command on Joule, you will be ready to use Intel Realsense Cameras. And the Realsense Wrapper will be installed in the catkin_ws folder under path ~/