diff --git a/.travis.yml b/.travis.yml
index 36b819d5..7033cfd4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -9,20 +9,36 @@ notifications:
     on_failure: always
 jobs:
   include:
-    - stage: build-shadow-fixed
+    - stage: build
       env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: arm64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - stage: build-released
-      env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - stage: lint
+      arch: arm64
+    - env: JOB="catkin_lint"
       sudo: false
       install: pip install --user -q catkin-lint
       script: catkin_lint -W2 --explain .
-      env: JOB="catkin_lint"
   allow_failures:
     - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
+    - env: ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
+    - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: amd64
     - env: ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+      arch: arm64
     - env: JOB="catkin_lint"
 matrix:
   allow_failures:
@@ -31,4 +47,4 @@ install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script: 
   - source .ci_config/travis.sh
-#  - source ./travis.sh  # Enable this when you have a package-local script 
+
diff --git a/mapviz/include/mapviz/map_canvas.h b/mapviz/include/mapviz/map_canvas.h
index e209d9aa..c0d5d425 100644
--- a/mapviz/include/mapviz/map_canvas.h
+++ b/mapviz/include/mapviz/map_canvas.h
@@ -52,9 +52,18 @@
 
 #include <mapviz/mapviz_plugin.h>
 
+#ifdef __aarch64__
+#include <QGLFunctions>
+#include <GL/gl.h>
+#endif
+
 namespace mapviz
 {
+#ifdef __aarch64__
+  class MapCanvas : public QGLWidget, protected QGLFunctions
+#else
   class MapCanvas : public QGLWidget
+#endif
   {
     Q_OBJECT
 
diff --git a/mapviz/include/mapviz/mapviz_plugin.h b/mapviz/include/mapviz/mapviz_plugin.h
index 92ce2cce..5fb2d0c1 100644
--- a/mapviz/include/mapviz/mapviz_plugin.h
+++ b/mapviz/include/mapviz/mapviz_plugin.h
@@ -52,6 +52,10 @@
 
 #include "stopwatch.h"
 
+#ifdef __aarch64__
+#include <GL/gl.h>
+#endif
+
 namespace mapviz
 {
   class MapvizPlugin : public QObject
diff --git a/mapviz/src/map_canvas.cpp b/mapviz/src/map_canvas.cpp
index 651d5676..ef9964f7 100644
--- a/mapviz/src/map_canvas.cpp
+++ b/mapviz/src/map_canvas.cpp
@@ -27,10 +27,11 @@
 //
 // *****************************************************************************
 
-
+#ifndef __aarch64__
 #include <GL/glew.h>
 #include <GL/gl.h>
 #include <GL/glu.h>
+#endif
 
 #include <mapviz/map_canvas.h>
 
@@ -94,10 +95,12 @@ MapCanvas::MapCanvas(QWidget* parent) :
 
 MapCanvas::~MapCanvas()
 {
+#ifndef __aarch64__
   if(pixel_buffer_size_ != 0)
   {
     glDeleteBuffersARB(2, pixel_buffer_ids_);
   }
+#endif
 }
 
 void MapCanvas::InitializeTf(boost::shared_ptr<tf::TransformListener> tf)
@@ -107,6 +110,7 @@ void MapCanvas::InitializeTf(boost::shared_ptr<tf::TransformListener> tf)
 
 void MapCanvas::InitializePixelBuffers()
 {
+#ifndef __aarch64__
   if(has_pixel_buffers_)
   {
     int32_t buffer_size = width() * height() * 4;
@@ -128,10 +132,12 @@ void MapCanvas::InitializePixelBuffers()
       pixel_buffer_size_ = buffer_size;
     }
   }
+#endif
 }
 
 void MapCanvas::initializeGL()
 {
+#ifndef __aarch64__
   GLenum err = glewInit();
   if (GLEW_OK != err)
   {
@@ -143,6 +149,9 @@ void MapCanvas::initializeGL()
     std::string extensions = (const char*)glGetString(GL_EXTENSIONS);
     has_pixel_buffers_ = extensions.find("GL_ARB_pixel_buffer_object") != std::string::npos;
   }
+#else
+  has_pixel_buffers_ = false;
+#endif
 
   glClearColor(0.58f, 0.56f, 0.5f, 1);
   if (enable_antialiasing_)
@@ -185,6 +194,7 @@ void MapCanvas::CaptureFrame(bool force)
   // Ensure the pixel size is actually 4
   glPixelStorei(GL_PACK_ALIGNMENT, 4);
 
+#ifndef __aarch64__
   if (has_pixel_buffers_ && !force)
   {
     InitializePixelBuffers();
@@ -207,6 +217,7 @@ void MapCanvas::CaptureFrame(bool force)
     glBindBufferARB(GL_PIXEL_PACK_BUFFER_ARB, 0);
   }
   else
+#endif
   {
     int32_t buffer_size = width() * height() * 4;
     capture_buffer_.clear();
diff --git a/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h b/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h
index 6d68a34f..cc471884 100644
--- a/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h
+++ b/mapviz_plugins/include/mapviz_plugins/pointcloud2_plugin.h
@@ -39,6 +39,7 @@
 #include <mapviz/mapviz_plugin.h>
 
 // QT libraries
+#include <QGLFunctions>
 #include <QGLWidget>
 #include <QColor>
 #include <QMutex>
@@ -51,7 +52,7 @@
 
 namespace mapviz_plugins
 {
-  class PointCloud2Plugin : public mapviz::MapvizPlugin
+  class PointCloud2Plugin : public mapviz::MapvizPlugin, protected QGLFunctions
   {
   Q_OBJECT
 
diff --git a/mapviz_plugins/src/occupancy_grid_plugin.cpp b/mapviz_plugins/src/occupancy_grid_plugin.cpp
index 906d03d7..e7f42aef 100644
--- a/mapviz_plugins/src/occupancy_grid_plugin.cpp
+++ b/mapviz_plugins/src/occupancy_grid_plugin.cpp
@@ -27,8 +27,6 @@
 //
 // *****************************************************************************
 
-#include <GL/glew.h>
-
 #include <mapviz_plugins/occupancy_grid_plugin.h>
 #include <GL/glut.h>
 
diff --git a/mapviz_plugins/src/pointcloud2_plugin.cpp b/mapviz_plugins/src/pointcloud2_plugin.cpp
index c200abd7..3ef7caf7 100644
--- a/mapviz_plugins/src/pointcloud2_plugin.cpp
+++ b/mapviz_plugins/src/pointcloud2_plugin.cpp
@@ -27,7 +27,6 @@
 //
 // *****************************************************************************
 
-#include <GL/glew.h>
 #include <mapviz_plugins/pointcloud2_plugin.h>
 
 // C++ standard libraries
diff --git a/multires_image/CMakeLists.txt b/multires_image/CMakeLists.txt
index e1b5fc25..b700d1f2 100644
--- a/multires_image/CMakeLists.txt
+++ b/multires_image/CMakeLists.txt
@@ -95,6 +95,7 @@ target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   ${Qt_LIBRARIES}
+  ${OPENGL_gl_LIBRARY}
   ${GLU_LIBRARY}
 )
 
diff --git a/multires_image/src/QGLMap.cpp b/multires_image/src/QGLMap.cpp
index 065c0568..331f19b6 100644
--- a/multires_image/src/QGLMap.cpp
+++ b/multires_image/src/QGLMap.cpp
@@ -29,6 +29,8 @@
 
 #include <multires_image/QGLMap.h>
 
+#include <GL/gl.h>
+
 // C++ standard libraries
 #include <cmath>
 
diff --git a/multires_image/src/multires_view.cpp b/multires_image/src/multires_view.cpp
index 6ea9cd15..512f2d84 100644
--- a/multires_image/src/multires_view.cpp
+++ b/multires_image/src/multires_view.cpp
@@ -33,6 +33,8 @@
 #include <cmath>
 #include <iostream>
 
+#include <GL/gl.h>
+
 #include <ros/ros.h>
 #include <swri_transform_util/transform_util.h>
 
diff --git a/multires_image/src/tile.cpp b/multires_image/src/tile.cpp
index ac736996..a0c3c4f5 100644
--- a/multires_image/src/tile.cpp
+++ b/multires_image/src/tile.cpp
@@ -36,6 +36,7 @@
 #include <iostream>
 
 // QT libraries
+#include <GL/gl.h>
 #include <QGLWidget>
 #include <QFile>
 
diff --git a/multires_image/src/tile_view.cpp b/multires_image/src/tile_view.cpp
index d566961b..7a5110bf 100644
--- a/multires_image/src/tile_view.cpp
+++ b/multires_image/src/tile_view.cpp
@@ -29,6 +29,8 @@
 
 #include <multires_image/tile_view.h>
 
+#include <GL/gl.h>
+
 // C++ standard libraries
 #include <cmath>
 #include <iostream>
diff --git a/tile_map/include/tile_map/tile_map_view.h b/tile_map/include/tile_map/tile_map_view.h
index bb23cad9..9fa16a4e 100644
--- a/tile_map/include/tile_map/tile_map_view.h
+++ b/tile_map/include/tile_map/tile_map_view.h
@@ -39,6 +39,8 @@
 
 #include <swri_transform_util/transform.h>
 
+#include <QGLFunctions>
+
 namespace tile_map
 {
   class TileSource;
@@ -58,7 +60,7 @@ namespace tile_map
     std::vector<tf::Vector3> points_t;
   };
 
-  class TileMapView
+  class TileMapView: protected QGLFunctions
   {
   public:
     TileMapView();
diff --git a/tile_map/src/texture_cache.cpp b/tile_map/src/texture_cache.cpp
index 38b13b3c..8abd777b 100644
--- a/tile_map/src/texture_cache.cpp
+++ b/tile_map/src/texture_cache.cpp
@@ -33,12 +33,9 @@
 
 #include <boost/make_shared.hpp>
 
-#include <GL/glew.h>
-#include <GL/gl.h>
-#include <GL/glu.h>
-
 #include <ros/ros.h>
 
+#include <QGLFunctions>
 #include <QGLWidget>
 #include <QImage>
 
@@ -109,8 +106,7 @@ namespace tile_map
             ROS_ERROR("FAILED TO CREATE TEXTURE");
 
             GLenum err = glGetError();
-            const GLubyte *errString = gluErrorString(err);
-            ROS_ERROR("GL ERROR(%u): %s", err, errString);
+            ROS_ERROR("GL ERROR(%u)", err);
             return texture;
           }
 
diff --git a/tile_map/src/tile_map_view.cpp b/tile_map/src/tile_map_view.cpp
index 8356a7ca..0ea85741 100644
--- a/tile_map/src/tile_map_view.cpp
+++ b/tile_map/src/tile_map_view.cpp
@@ -33,9 +33,7 @@
 
 #include <boost/make_shared.hpp>
 
-#include <GL/glew.h>
 #include <GL/gl.h>
-#include <GL/glu.h>
 
 #include <ros/ros.h>