qt-base-dev;geometry_msgs;image_transport;libopencv-dev;libxi-dev;libxmu-dev;mapviz_interfaces;pluginlib;rclcpp;rqt_gui_cpp;rqt_gui;std_srvs;swri_math_util;swri_transform_util;tf2;tf2_geometry_msgs;tf2_ros;yaml-cpp;pkg-config;libqtcore;libqtgui;libqtopengl