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Looking at the ROS docs for rosauth (here), the Jenkins jobs doesn't list a binary for debian buster armhf, so you won't be able to directly pull it on a RPi. There's a couple of solutions you could try:

1) submit an issue with the maintainers on their git asking if they plan on compiling a binary

2) compile it directly from source

3) A little round about, but my personal suggestion, you could run your ROS application within Docker containers and base the image off ubuntu. This would have a bit of a learning curve and potentially require you to set up a crosscompile environment, but in the end you'd benefit from greater control of your environment and general bonuses from containerization.