TI supports the Ubuntu distributions from Maverick to Precise, excluding 
Quantal and Raring unfortunately.
The Raring kernel (version 3.5.0-216-omap4 #23) is not compatible with any 
known PVR user-space library. 
By the way, omap_dri.so library is not provided by TI and not needed. 

For a full OMAP hardware acceleration, the latest distribution is Ubuntu
Precise + TI release PPA e.g. kernel version 3.4.0-1489.22 and pvr-omap4
version 1.9.0.7.1.5-2.

More details on http://omappedia.org/wiki/Ubuntu_Pre-
built_Binaries_Guide

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https://bugs.launchpad.net/bugs/1102045

Title:
  Pandaboard ES: /usr/lib/arm-linux-gnueabihf/dri/omap_dri.so missing ->
  Only software rendering

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