Installing Intel RealSense drivers:
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echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' || sudo tee /etc/apt/sources.list.d/realsense-public.list
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
sudo apt-get update
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dkms # enter a key for installing driver when asked (in my case the pw was realsense2019bt)
sudo apt-get install librealsense2-utils

Check if drivers were installed sucessfully:
modinfo uvcvideo | grep "version:" # -> this should report the realsense camera driver


# Installing the ROS package (assuming ros base is installed):
Install dependencies:
sudo apt-get install ros-kinetic-cv-bridge -y
sudo apt-get install ros-kinetic-image-transport
sudo apt-get install ros-kinetic-tf -y
sudo apt-get install ros-kinetic-diagnostic-updater -y
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-ddynamic-reconfigure -y

# clone github repo:
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
mkdir -p ~/realsense_catkin_ws/src/realsense
mv * ~/realsense_catkin_ws/src/realsense/

cd ~/realsense_catkin_ws/src/
catkin_init_workspace
cd .. 
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
echo "source ~/realsense_catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Test with:
roslaunch realsense2_camera rs_camera.launch

Possible issue:
The camera requires a USB 3 port to provide full resolution streams