Perhaps you could create a ROS adaptation of Intel's open-source ethernet system described in the link below, which streams RealSense data from a camera on a 'remote' board such as Raspberry Pi to a program such as the RealSense Viewer running on a central 'host' computer. https://dev....
Hi everyone, The RealSense D435i camera model with added Inertial Measurement Unit (IMU) is now available for pre-order from Intel's online Click store for shipping in the week of December 3 2018. https://communities.intel.com/thread/145631