I was able to reproduce this on opensuse 42.3 with the default kamailio cfg.
$ ./kamailio -f ../etc/kamailio.cfg -E -e -L modules -Y /tmp/ -AWITH_TLS -AWITH_DEBUG
0(12645) ERROR: tls [tls_init.c:601]: tls_pre_init(): Unable to set the memory allocation functions 0(12645) ERROR: tls [tls_init.c:603]: tls_pre_init(): libssl current mem functions - m: 0x7f613089c380 r: 0x7f613089c9e0 f: 0x7f613089c950 0(12645) ERROR: tls [tls_init.c:605]: tls_pre_init(): Be sure tls module is loaded before any other module using libssl (can be loaded first to be safe) 0(12645) ERROR: <core> [core/sr_module.c:532]: load_module(): modules/tls/tls.so: mod_register failed
$ rpm -qi libopenssl-devel Name : libopenssl-devel Version : 1.0.2j Release : 32.1 Architecture: x86_64
$ ldd tls.so linux-vdso.so.1 (0x00007ffd9ad8d000) libssl.so.1.0.0 => /lib64/libssl.so.1.0.0 (0x00007f619dc34000) libc.so.6 => /lib64/libc.so.6 (0x00007f619d88f000) libcrypto.so.1.0.0 => /lib64/libcrypto.so.1.0.0 (0x00007f619d436000) /lib64/ld-linux-x86-64.so.2 (0x00007f619e135000) libdl.so.2 => /lib64/libdl.so.2 (0x00007f619d232000) libz.so.1 => /lib64/libz.so.1 (0x00007f619d01c000)