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I reinstalled eloquent choosing the right architecture. Somehow it is a problem if amd64 is listed in the brackets too, maybe because it finds amd64 packages first.

sudo sh -c 'echo "deb [arch=arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

After that I installed image_transport_plugins and now it works fine.