1 remove GTK3

sudo apt remove libgtk3*

2 install opencv depenencies

sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
gfortran openexr libatlas-base-dev python3-dev python3-numpy \
libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev

3 cmake install opencv 4.2 from source

4 cmake install eigen 3.4 from source

5 cmake install Pangolin-v0.6 from source

6 cd ORB-SLAM3

./build.sh

7 install ros-noetic

wget http://fishros.com/install -O fishros && . fishros