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The generated code uses PyLong_AsSize_t which is a valid function in the Python C API: https://docs.python.org/3/c-api/long.html#c.PyLong_AsSize_t

Maybe you are using an older not supported Python version to compile the code?

Do you have python3-dev installed - if yes, which version (dpkg -l | grep python3-dev)?

What does the following command output: cat build/rtabmap_ros/CMakeCache.txt | grep PYTHON_

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