I had this issue on my Hardy system.

If I run a command through sudo, I get these messages in my
/var/log/auth.log file:

PAM addding faulty module: /lib/security/pam_foreground.so
PAM [error: /lib/security/pam_foreground.so: cannot open shared object file or 
directory]
PAM unable to dlopen(/lib/security/pam_foreground.so)

Manually installing libpam-foreground makes the errors go away and fixes
the problem.

One way or another, this package should be installed by default.  It
needs to be a dependency of some package or another.

-- 
ubuntu-standard doesn't depend on libpam-foreground
https://bugs.launchpad.net/bugs/195880
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