Hi,
Please try
$tar -xvf librealsense-2.19.1.tar.gz
$cd librealsense
$sudo apt update
$sudo apt upgrade
$sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
$sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
$sudo udevadm control --reload-rules && udevadm trigger
$mkdir build
$cd build
$cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
$sudo make uninstall
$make clean
$make
$sudo make install
And run realsense-viewer.