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I needed to run the node as root. I don't know the exact reason why but it works now. Only thing is that after source the bashrc I see following warnings and auto-completion doesn't work.

[rospack] WARNING: cannot create rospack cache directory: Permission denied
[rospack] WARNING: cannot create rospack cache directory: Permission denied
[rospack] Unable to create temporary cache file /root/.ros/.rospack_cache.8co7EJ: Permission denied

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