Intel Realsense for Turtlebot3 Waffle Pi

Hi there, I have a Turtlebot3 Waffle Pi in stock condition, and it has a Raspberry Pi Camera.

I want to upgrade this robot to an Intel Realsense camera. I am new to Turtlebot robotics, and I would really appreciate some advice on how to use an Intel Realsense with this robot. I think the realsense requires an intel processor?

Note: there are a lot of mentions of the Turtlebot3 Waffle which used an Intel Joule, but that is not the robot I have. I have the Turtlebot3 Waffle Pi which is based on Raspberry Pi.
Note: The I have seen listings for a kit that adds realsense to this from Intel but it has been discontinued.

Hi, TurtleBot3 Waffle used Intel Joule SBC with Intel Realsense R200 depth camera.
Due to the EOL of the Intel Joule, TurtleBot3 Waffle Pi came with Raspberry Pi with the RPi Cam.
I’d recommend to try some of the postings that other engineers tried like blow