How to Install ROS Noetic on Ubuntu 20.04

Here you will learn how to install ROS Noetic on Ubuntu 20.04. Specifically, you will learn how to set up the official ROS repo, add official ROS keyring to get authentic ROS packages, and set up ROS environment.

ROS Noetic & Ubuntu 20.04

Robot Operating System (ROS or in lowercase ros) is the most widely used framework to program robots, more than 50% robots run on ROS. Targeted to Ubuntu 20.04, ROS Noetic Ninjemys is the latest and 13th ROS LTS distribution. It also marks the last ROS 1 release; ROS 2 will become the new normal. It was released on May 23, 2020 and supported until May 2025. The last release was ROS Melodic and will reach end of support in May 2023. The architecture ROS Noetic supported are amd64, armhf, and arm64. Most of our computers will be running on the amd64 architecture, so we should be fine.

Ubuntu 20.04 is the latest Ubuntu LTS and has code name Focal Fossa. It has been released in April 2020 and is supported for 5 years until April 2025 (standard support). For ROS users, Ubuntu 20.04 features Python 3 and if you are using ROS Noetic, you will need to fix the errors and warnings.

Before Installing ROS Noetic

You should have Ubuntu 20.04 installed on your machine. Otherwise, you can still use Docker for ROS Noetic installation. If you cannot upgrade to 20.04 or install 20.04, which means you are stuck with 18.04 unfortunately, we recommend you continue using or installing ROS Melodic.

You should also have root access in order to install Noetic system wide. Installing just for one normal non-root account is not supported.

Step 1 — Set up ROS Noetic repo for Ubuntu 20.04

To install Noetic on Ubuntu 20.04, first we will need to add the official ROS Noetic repo to sources.list. Instead of adding directly to /etc/apt/sources.list, we will create a new list file ros-noetic.list. Note that this is different from the official wiki article as ros-latest.list won’t stay true if there is a new release of ROS.

echo "deb http://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros-focal.list

After running the command above, you will see the output: deb http://packages.ros.org/ros/ubuntu focal main.

Step 2 — Add official ROS keyring

Next, we will need to add the ROS Noetic keyring to get authenticated ROS packages to install on your Ubuntu 20.04 system and avoid man-in-middle attack. There are two ways to add the official key, and you can choose any of them. Choose the first one if you are in doubt.

The first is to use apt-key to add the key to be downloaded from Ubuntu key server. Note that if this does not work, you can also try to replace hkp://keyserver.ubuntu.com:80 with hkp://pgp.mit.edu:80.

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

If you see the following output starting with executing, it means the key is successfully added. As you can see, the key is issued by Open Robotics, which is the maintainer of ROS. Another detail is that apt-key downloads the key to the directory tmp and the key will be removed automatically.

Executing: /tmp/apt-key-gpghome.mdMVphTCAR/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
gpg: key F42ED6FBAB17C654: public key "Open Robotics info@osrfoundation.org" imported
gpg: Total number processed: 1
gpg: imported: 1

The second way is to use curl to download the official ROS key and add it locally. This is preferred if you are trying to install Noetic on a computer that has no internet access, or you are behind a proxy server.

curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -

If you see output “OK”, the key is successfully added.

Step 3 — Update ROS package index

Next, we will need to get the ROS Noetic package information from the repository we just added using apt update.

sudo apt update

You will see output like the following, especially the text in bold:

Hit:1 http://security.ubuntu.com/ubuntu focal-security InRelease
Hit:2 http://dl.google.com/linux/chrome/deb stable InRelease
Hit:3 http://packages.ros.org/ros/ubuntu focal InRelease
Hit:4 http://archive.ubuntu.com/ubuntu focal InRelease
Hit:5 https://download.docker.com/linux/ubuntu bionic InRelease
Hit:6 http://archive.ubuntu.com/ubuntu focal-updates InRelease
Hit:7 http://archive.ubuntu.com/ubuntu focal-backports InRelease
Reading package lists… Done
Building dependency tree
Reading state information… Done
48 packages can be upgraded. Run 'apt list --upgradable' to see them.

Step 4 — Install ROS Noetic package

Now we are ready to install Noetic on Ubuntu 20.04 after all the preparation work. Like Ubuntu’s ubuntu-dektop, ubuntu-desktop-mini packages, ROS comes with metapackages for you to install.

The four officially documented ROS Noetic metapackages are:

• ros-noetic-desktop-full
• ros-noetic-desktop
• ros-noetic-ros-base
• ros-noetic-ros-core

In most cases, you will want to install ros-noetic-desktop-full for full ROS experience.

If you installed the Ubuntu desktop version, you would want to install ros-noetic-desktop-full with all the desktop packages. This metapackage is what we run here. But occasionally, if you are installing on a robot that does not have to have any GUI, you want to install ros-noetic-ros-base to save some space and avoid some ROS packages using your CPU and memory resources. In the following, I will explain each ROS metapackage.

Install ros-noetic-desktop-full

The package ros-noetic-desktop-full includes all the packages in ros-noetic-desktop and also the perception (ros-noetic-perception) and simulation (ros-noetic-simulators) packages.

To install ros-noetic-desktop-full, run

sudo apt install ros-noetic-desktop-full

After you run the command above, you will see the following output. As you can see, 992 new packages will be installed and takes 2.7 GB space. I paste the output after the screenshot just for your reference.

Press Y and enter or simply press enter to continue installing. As this desktop-full metapackage depends on a lot of other messages, this whole installation will take about 10 minutes.

vh@varhowto-com:~$ sudo apt install ros-noetic-desktop-full
Reading package lists… Done
Building dependency tree
Reading state information… Done
The following additional packages will be installed:
autoconf automake autopoint autotools-dev blt bzip2-doc
cmake cmake-data comerr-dev cpp-8 cython3 debhelper
default-libmysqlclient-dev dh-autoreconf
dh-strip-nondeterminism docutils-common dwz fltk1.3-doc
fluid fonts-lato fonts-lyx freeglut3 freeglut3-dev
gazebo11 gazebo11-common gazebo11-plugin-base gcc-8
gcc-8-base gdal-data gettext gfortran gfortran-8
gfortran-9 gir1.2-gtk-2.0 gir1.2-harfbuzz-0.0
google-mock googletest graphviz hddtemp hdf5-helpers
ibverbs-providers icu-devtools ignition-tools
intltool-debian javascript-common krb5-multidev
libaec-dev libaec0 libann0 libapr1 libapr1-dev
libaprutil1 libaprutil1-dev libarchive-cpio-perl
libarchive-zip-perl libarmadillo-dev libarmadillo9
libarpack2 libarpack2-dev libassimp-dev libassimp5
libassuan-dev libatk-bridge2.0-dev libatk1.0-dev
libatspi2.0-dev libavcodec-dev libavdevice-dev
libavdevice58 libavfilter-dev libavformat-dev
libavresample-dev libavresample4 libavutil-dev
libblas-dev libblas3 libblkid-dev libboost-all-dev
libboost-atomic-dev libboost-atomic1.71-dev
libboost-atomic1.71.0 libboost-chrono-dev
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libboost-container-dev libboost-container1.71-dev
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libboost-coroutine-dev libboost-coroutine1.71-dev
libboost-coroutine1.71.0 libboost-date-time-dev
libboost-date-time1.71-dev libboost-dev
libboost-exception-dev libboost-exception1.71-dev
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libboost-fiber1.71.0 libboost-filesystem-dev
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libboost-graph-parallel-dev
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libboost-graph-parallel1.71.0 libboost-graph1.71-dev
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libboost-math-dev libboost-math1.71-dev
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libboost-mpi1.71.0 libboost-numpy-dev
libboost-numpy1.71-dev libboost-numpy1.71.0
libboost-program-options-dev
libboost-program-options1.71-dev
libboost-program-options1.71.0 libboost-python-dev
libboost-python1.71-dev libboost-python1.71.0
libboost-random-dev libboost-random1.71-dev
libboost-random1.71.0 libboost-regex-dev
libboost-regex1.71-dev libboost-regex1.71.0
libboost-serialization-dev
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libboost-serialization1.71.0 libboost-stacktrace-dev
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libboost-system-dev libboost-system1.71-dev
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libboost-test1.71-dev libboost-test1.71.0
libboost-thread-dev libboost-thread1.71-dev
libboost-timer-dev libboost-timer1.71-dev
libboost-timer1.71.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.71-dev
libboost-type-erasure1.71.0 libboost-wave-dev
libboost-wave1.71-dev libboost-wave1.71.0
libboost1.71-dev libboost1.71-tools-dev libbullet-dev
libbullet2.88 libbz2-dev libcaf-openmpi-3
libcairo-script-interpreter2 libcairo2-dev libcdt5
libcfitsio-dev libcfitsio-doc libcfitsio8 libcgraph6
libcharls-dev libcharls2 libclang1-10 libcoarrays-dev
libcoarrays-openmpi-dev libconsole-bridge-dev
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libdatrie-dev libdbus-1-dev libdc1394-22
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libegl-dev libegl1-mesa-dev libeigen3-dev libepoxy-dev
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libgfortran-9-dev libgfortran5 libgif-dev libgl-dev
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libignition-common3-graphics
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odbcinst1debian2 opencv-data openmpi-bin openmpi-common
openni-utils pango1.0-tools po-debconf proj-bin
proj-data protobuf-compiler pyqt5-dev
python-matplotlib-data python3-autobahn
python3-catkin-pkg python3-catkin-pkg-modules
python3-cbor python3-cycler python3-defusedxml
python3-dev python3-distutils python3-docutils
python3-empy python3-gnupg python3-kiwisolver
python3-lz4 python3-matplotlib python3-mpi4py
python3-nose python3-numpy python3-opencv python3-opengl
python3-png python3-psutil python3-pycryptodome
python3-pydot python3-pygments python3-pykdl
python3-pyparsing python3-pyqrcode python3-pyqt5
python3-pyqt5.qtopengl python3-pyqt5.qtsvg
python3-pyqt5.qtwebkit python3-pyside2.qtcore
python3-pyside2.qtgui python3-pyside2.qtsvg
python3-pyside2.qtwidgets python3-roman
python3-rosdep-modules python3-rosdistro
python3-rosdistro-modules python3-rospkg
python3-rospkg-modules python3-setuptools python3-sip
python3-sip-dev python3-snappy python3-tk python3-trie
python3-txaio python3-u-msgpack python3-ubjson
python3-vtk7 python3-wsaccel python3.8-dev qdoc-qt5
qhelpgenerator-qt5 qt5-assistant qt5-gtk-platformtheme
qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools
qtchooser qtdeclarative5-dev qtdeclarative5-dev-tools
qttools5-dev qttools5-dev-tools qttools5-private-dev
qttranslations5-l10n rake ros-noetic-actionlib
ros-noetic-actionlib-msgs ros-noetic-actionlib-tutorials
ros-noetic-angles ros-noetic-bond ros-noetic-bond-core
ros-noetic-bondcpp ros-noetic-bondpy
ros-noetic-camera-calibration
ros-noetic-camera-calibration-parsers
ros-noetic-camera-info-manager ros-noetic-catkin
ros-noetic-class-loader ros-noetic-cmake-modules
ros-noetic-common-msgs ros-noetic-common-tutorials
ros-noetic-compressed-depth-image-transport
ros-noetic-compressed-image-transport
ros-noetic-control-msgs ros-noetic-control-toolbox
ros-noetic-controller-interface
ros-noetic-controller-manager
ros-noetic-controller-manager-msgs ros-noetic-cpp-common
ros-noetic-cv-bridge ros-noetic-depth-image-proc
ros-noetic-desktop ros-noetic-diagnostic-aggregator
ros-noetic-diagnostic-analysis
ros-noetic-diagnostic-common-diagnostics
ros-noetic-diagnostic-msgs ros-noetic-diagnostic-updater
ros-noetic-diagnostics ros-noetic-diff-drive-controller
ros-noetic-dynamic-reconfigure
ros-noetic-eigen-conversions ros-noetic-executive-smach
ros-noetic-filters ros-noetic-forward-command-controller
ros-noetic-gazebo-dev ros-noetic-gazebo-msgs
ros-noetic-gazebo-plugins ros-noetic-gazebo-ros
ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs
ros-noetic-gencpp ros-noetic-geneus ros-noetic-genlisp
ros-noetic-genmsg ros-noetic-gennodejs ros-noetic-genpy
ros-noetic-geometry ros-noetic-geometry-msgs
ros-noetic-geometry-tutorials ros-noetic-gl-dependency
ros-noetic-hardware-interface ros-noetic-image-common
ros-noetic-image-geometry ros-noetic-image-pipeline
ros-noetic-image-proc ros-noetic-image-publisher
ros-noetic-image-rotate ros-noetic-image-transport
ros-noetic-image-transport-plugins ros-noetic-image-view
ros-noetic-interactive-marker-tutorials
ros-noetic-interactive-markers
ros-noetic-joint-limits-interface
ros-noetic-joint-state-controller
ros-noetic-joint-state-publisher
ros-noetic-joint-state-publisher-gui
ros-noetic-kdl-conversions ros-noetic-kdl-parser
ros-noetic-laser-assembler ros-noetic-laser-filters
ros-noetic-laser-geometry ros-noetic-laser-pipeline
ros-noetic-librviz-tutorial ros-noetic-map-msgs
ros-noetic-media-export ros-noetic-message-filters
ros-noetic-message-generation ros-noetic-message-runtime
ros-noetic-mk ros-noetic-nav-msgs ros-noetic-nodelet
ros-noetic-nodelet-core ros-noetic-nodelet-topic-tools
ros-noetic-nodelet-tutorial-math
ros-noetic-pcl-conversions ros-noetic-pcl-msgs
ros-noetic-pcl-ros ros-noetic-perception
ros-noetic-perception-pcl ros-noetic-pluginlib
ros-noetic-pluginlib-tutorials ros-noetic-polled-camera
ros-noetic-position-controllers
ros-noetic-python-qt-binding ros-noetic-qt-dotgraph
ros-noetic-qt-gui ros-noetic-qt-gui-cpp
ros-noetic-qt-gui-py-common ros-noetic-qwt-dependency
ros-noetic-realtime-tools ros-noetic-resource-retriever
ros-noetic-robot ros-noetic-robot-state-publisher
ros-noetic-ros ros-noetic-ros-base ros-noetic-ros-comm
ros-noetic-ros-core ros-noetic-ros-environment
ros-noetic-ros-tutorials ros-noetic-rosbag
ros-noetic-rosbag-migration-rule
ros-noetic-rosbag-storage ros-noetic-rosbash
ros-noetic-rosboost-cfg ros-noetic-rosbuild
ros-noetic-rosclean ros-noetic-rosconsole
ros-noetic-rosconsole-bridge ros-noetic-roscpp
ros-noetic-roscpp-core ros-noetic-roscpp-serialization
ros-noetic-roscpp-traits ros-noetic-roscpp-tutorials
ros-noetic-roscreate ros-noetic-rosgraph
ros-noetic-rosgraph-msgs ros-noetic-roslang
ros-noetic-roslaunch ros-noetic-roslib
ros-noetic-roslint ros-noetic-roslisp ros-noetic-roslz4
ros-noetic-rosmake ros-noetic-rosmaster
ros-noetic-rosmsg ros-noetic-rosnode ros-noetic-rosout
ros-noetic-rospack ros-noetic-rosparam ros-noetic-rospy
ros-noetic-rospy-tutorials ros-noetic-rosservice
ros-noetic-rostest ros-noetic-rostime
ros-noetic-rostopic ros-noetic-rosunit ros-noetic-roswtf
ros-noetic-rqt-action ros-noetic-rqt-bag
ros-noetic-rqt-bag-plugins ros-noetic-rqt-common-plugins
ros-noetic-rqt-console ros-noetic-rqt-dep
ros-noetic-rqt-graph ros-noetic-rqt-gui
ros-noetic-rqt-gui-cpp ros-noetic-rqt-gui-py
ros-noetic-rqt-image-view ros-noetic-rqt-launch
ros-noetic-rqt-logger-level ros-noetic-rqt-moveit
ros-noetic-rqt-msg ros-noetic-rqt-nav-view
ros-noetic-rqt-plot ros-noetic-rqt-pose-view
ros-noetic-rqt-publisher ros-noetic-rqt-py-common
ros-noetic-rqt-py-console ros-noetic-rqt-reconfigure
ros-noetic-rqt-robot-dashboard
ros-noetic-rqt-robot-monitor
ros-noetic-rqt-robot-plugins
ros-noetic-rqt-robot-steering
ros-noetic-rqt-runtime-monitor ros-noetic-rqt-rviz
ros-noetic-rqt-service-caller ros-noetic-rqt-shell
ros-noetic-rqt-srv ros-noetic-rqt-tf-tree
ros-noetic-rqt-top ros-noetic-rqt-topic
ros-noetic-rqt-web ros-noetic-rviz
ros-noetic-rviz-plugin-tutorials
ros-noetic-rviz-python-tutorial ros-noetic-self-test
ros-noetic-sensor-msgs ros-noetic-shape-msgs
ros-noetic-simulators ros-noetic-smach
ros-noetic-smach-msgs ros-noetic-smach-ros
ros-noetic-smclib ros-noetic-stage ros-noetic-stage-ros
ros-noetic-std-msgs ros-noetic-std-srvs
ros-noetic-stereo-image-proc ros-noetic-stereo-msgs
ros-noetic-tf ros-noetic-tf-conversions ros-noetic-tf2
ros-noetic-tf2-eigen ros-noetic-tf2-geometry-msgs
ros-noetic-tf2-kdl ros-noetic-tf2-msgs ros-noetic-tf2-py
ros-noetic-tf2-ros ros-noetic-theora-image-transport
ros-noetic-topic-tools ros-noetic-trajectory-msgs
ros-noetic-transmission-interface
ros-noetic-turtle-actionlib ros-noetic-turtle-tf
ros-noetic-turtle-tf2 ros-noetic-turtlesim
ros-noetic-urdf ros-noetic-urdf-parser-plugin
ros-noetic-urdf-sim-tutorial ros-noetic-urdf-tutorial
ros-noetic-vision-opencv
ros-noetic-visualization-marker-tutorials
ros-noetic-visualization-msgs
ros-noetic-visualization-tutorials ros-noetic-viz
ros-noetic-webkit-dependency ros-noetic-xacro
ros-noetic-xmlrpcpp ruby ruby-minitest ruby-net-telnet
ruby-power-assert ruby-test-unit ruby-xmlrpc ruby2.7
rubygems-integration sbcl sdformat9-sdf shiboken2
sip-dev tango-icon-theme tcl tcl-dev tcl-vtk7 tcl8.6
tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5 tk8.6-dev
ttf-bitstream-vera ttf-dejavu-core unixodbc-dev uuid-dev
vtk7 wayland-protocols x11proto-core-dev x11proto-dev
x11proto-input-dev x11proto-randr-dev
x11proto-record-dev x11proto-scrnsaver-dev
x11proto-xext-dev x11proto-xinerama-dev
xorg-sgml-doctools xtrans-dev
Suggested packages:
autoconf-archive gnu-standards autoconf-doc blt-demo
cmake-doc ninja-build doc-base gcc-8-locales cython-doc
dh-make gazebo11-doc gcc-8-multilib gcc-8-doc
gettext-doc libasprintf-dev libgettextpo-dev
gfortran-multilib gfortran-doc gfortran-8-multilib
gfortran-8-doc gfortran-9-multilib gfortran-9-doc
gsfonts graphviz-doc apache2 | lighttpd | httpd krb5-doc
python libitpp-dev liblapack-doc libboost-doc
libboost1.71-doc gccxml libboost-contract1.71-dev
libmpfrc++-dev libntl-dev xsltproc doxygen docbook-xsl
default-jdk fop libcairo2-doc libcurl4-doc libidn11-dev
librtmp-dev libssh2-1-dev libdatrie-doc libeigen3-doc
freetype2-doc libgdal-doc libgeotiff-epsg geotiff-bin
gdal-bin glew-utils libgirepository1.0-dev
libglib2.0-doc libgraphite2-utils krb5-user libgtk-3-doc
libgtk2.0-doc libgts-doc libhdf4-doc hdf4-tools
libhdf5-doc libhwloc-contrib-plugins libice-doc icu-doc
libjs-jquery-ui-docs liblog4cxx-doc libtool-doc
liblzma-doc netcdf-bin netcdf-doc libnorm-doc libmyodbc
odbc-postgresql tdsodbc unixodbc-bin ogdi-bin
ogre-1.9-doc libogre-1.9.0v5-dbg libportaudio2
opencv-doc openmpi-doc openni-doc openni2-doc
imagemagick libpango1.0-doc libpcl-doc postgresql-doc-12
qt5-image-formats-plugins qtwayland5 libraw1394-doc
lksctp-tools libsm-doc sndiod spacenavd sqlite3-doc
libsuperlu-doc libtbb-doc libthai-doc libtinyxml-doc
gcj-jdk vtk7-doc vtk7-examples java-virtual-machine
libwayland-doc libx11-doc libxcb-doc libxerces-c-doc
libxext-doc libxt-doc libyaml-doc m4-doc
libmail-box-perl python-cycler-doc docutils-doc
fonts-linuxlibertine | ttf-linux-libertine
texlive-lang-french texlive-latex-base
texlive-latex-recommended dvipng ffmpeg inkscape
ipython3 python-matplotlib-doc python3-cairocffi
python3-gobject python3-scipy python3-tornado
texlive-extra-utils texlive-latex-extra ttf-staypuft
python-nose-doc python-numpy-doc python3-pytest
python3-numpy-dbg libgle3 python-psutil-doc
python-pygments-doc python-pyparsing-doc
python3-pyqt5-dbg python-pyside2-doc
python-setuptools-doc python-sip-doc tix python3-tk-dbg
python-trie-doc python-txaio-doc mayavi2 qt5-doc
firebird-dev ri ruby-dev bundler sbcl-doc sbcl-source
slime gnome-icon-theme kdelibs-data tcl-doc
tcl-tclreadline tcl8.6-doc tk-doc tk8.6-doc
The following NEW packages will be installed:
autoconf automake autopoint autotools-dev blt bzip2-doc
cmake cmake-data comerr-dev cpp-8 cython3 debhelper
default-libmysqlclient-dev dh-autoreconf
dh-strip-nondeterminism docutils-common dwz fltk1.3-doc
fluid fonts-lato fonts-lyx freeglut3 freeglut3-dev
gazebo11 gazebo11-common gazebo11-plugin-base gcc-8
gcc-8-base gdal-data gettext gfortran gfortran-8
gfortran-9 gir1.2-gtk-2.0 gir1.2-harfbuzz-0.0
google-mock googletest graphviz hddtemp hdf5-helpers
ibverbs-providers icu-devtools ignition-tools
intltool-debian javascript-common krb5-multidev
libaec-dev libaec0 libann0 libapr1 libapr1-dev
libaprutil1 libaprutil1-dev libarchive-cpio-perl
libarchive-zip-perl libarmadillo-dev libarmadillo9
libarpack2 libarpack2-dev libassimp-dev libassimp5
libassuan-dev libatk-bridge2.0-dev libatk1.0-dev
libatspi2.0-dev libavcodec-dev libavdevice-dev
libavdevice58 libavfilter-dev libavformat-dev
libavresample-dev libavresample4 libavutil-dev
libblas-dev libblas3 libblkid-dev libboost-all-dev
libboost-atomic-dev libboost-atomic1.71-dev
libboost-atomic1.71.0 libboost-chrono-dev
libboost-chrono1.71-dev libboost-chrono1.71.0
libboost-container-dev libboost-container1.71-dev
libboost-container1.71.0 libboost-context-dev
libboost-context1.71-dev libboost-context1.71.0
libboost-coroutine-dev libboost-coroutine1.71-dev
libboost-coroutine1.71.0 libboost-date-time-dev
libboost-date-time1.71-dev libboost-dev
libboost-exception-dev libboost-exception1.71-dev
libboost-fiber-dev libboost-fiber1.71-dev
libboost-fiber1.71.0 libboost-filesystem-dev
libboost-filesystem1.71-dev libboost-graph-dev
libboost-graph-parallel-dev
libboost-graph-parallel1.71-dev
libboost-graph-parallel1.71.0 libboost-graph1.71-dev
libboost-graph1.71.0 libboost-iostreams-dev
libboost-iostreams1.71-dev libboost-locale-dev
libboost-locale1.71-dev libboost-log-dev
libboost-log1.71-dev libboost-log1.71.0
libboost-math-dev libboost-math1.71-dev
libboost-math1.71.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.71-dev
libboost-mpi-python1.71.0 libboost-mpi1.71-dev
libboost-mpi1.71.0 libboost-numpy-dev
libboost-numpy1.71-dev libboost-numpy1.71.0
libboost-program-options-dev
libboost-program-options1.71-dev
libboost-program-options1.71.0 libboost-python-dev
libboost-python1.71-dev libboost-python1.71.0
libboost-random-dev libboost-random1.71-dev
libboost-random1.71.0 libboost-regex-dev
libboost-regex1.71-dev libboost-regex1.71.0
libboost-serialization-dev
libboost-serialization1.71-dev
libboost-serialization1.71.0 libboost-stacktrace-dev
libboost-stacktrace1.71-dev libboost-stacktrace1.71.0
libboost-system-dev libboost-system1.71-dev
libboost-system1.71.0 libboost-test-dev
libboost-test1.71-dev libboost-test1.71.0
libboost-thread-dev libboost-thread1.71-dev
libboost-timer-dev libboost-timer1.71-dev
libboost-timer1.71.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.71-dev
libboost-type-erasure1.71.0 libboost-wave-dev
libboost-wave1.71-dev libboost-wave1.71.0
libboost1.71-dev libboost1.71-tools-dev libbullet-dev
libbullet2.88 libbz2-dev libcaf-openmpi-3
libcairo-script-interpreter2 libcairo2-dev libcdt5
libcfitsio-dev libcfitsio-doc libcfitsio8 libcgraph6
libcharls-dev libcharls2 libclang1-10 libcoarrays-dev
libcoarrays-openmpi-dev libconsole-bridge-dev
libconsole-bridge0.4 libcroco3 libcurl4-openssl-dev
libdap-dev libdap25 libdapclient6v5 libdapserver7v5
libdatrie-dev libdbus-1-dev libdc1394-22
libdc1394-22-dev libdebhelper-perl libdouble-conversion3
libegl-dev libegl1-mesa-dev libeigen3-dev libepoxy-dev
libepsilon-dev libepsilon1 libevent-core-2.1-7
libevent-dev libevent-extra-2.1-7 libevent-openssl-2.1-7
libevent-pthreads-2.1-7 libexif-dev libexif-doc
libexpat1-dev libfabric1 libffi-dev
libfile-stripnondeterminism-perl libflann-dev
libflann1.9 libfltk-cairo1.3 libfltk-forms1.3
libfltk-gl1.3 libfltk-images1.3 libfltk1.3
libfltk1.3-dev libfontconfig1-dev libfreeimage-dev
libfreeimage3 libfreetype-dev libfreetype6-dev
libfreexl-dev libfreexl1 libfribidi-dev libfyba-dev
libfyba0 libgazebo11 libgazebo11-dev libgcc-8-dev
libgdal-dev libgdal26 libgdcm-dev libgdcm3.0
libgdk-pixbuf2.0-dev libgeos-3.8.0 libgeos-c1v5
libgeos-dev libgeotiff-dev libgeotiff5 libgfortran-8-dev
libgfortran-9-dev libgfortran5 libgif-dev libgl-dev
libgl1-mesa-dev libgl2ps-dev libgl2ps1.4 libgles-dev
libgles1 libglew-dev libglew2.1 libglib2.0-dev
libglib2.0-dev-bin libglu1-mesa-dev libglvnd-dev
libglx-dev libgpg-error-dev libgpgme-dev libgphoto2-dev
libgraphite2-dev libgssrpc4 libgtest-dev libgtk-3-dev
libgtk2.0-dev libgts-0.7-5 libgts-bin libgts-dev libgvc6
libgvpr2 libharfbuzz-dev libharfbuzz-gobject0
libhdf4-0-alt libhdf4-alt-dev libhdf5-103
libhdf5-cpp-103 libhdf5-dev libhdf5-mpi-dev
libhdf5-openmpi-103 libhdf5-openmpi-dev libhwloc-dev
libhwloc-plugins libhwloc15 libibverbs-dev libibverbs1
libice-dev libicu-dev libignition-cmake2-dev
libignition-common3 libignition-common3-av
libignition-common3-av-dev libignition-common3-core-dev
libignition-common3-dev libignition-common3-events
libignition-common3-events-dev
libignition-common3-graphics
libignition-common3-graphics-dev
libignition-common3-profiler
libignition-common3-profiler-dev libignition-fuel-tools4
libignition-fuel-tools4-dev libignition-math6
libignition-math6-dev libignition-msgs5
libignition-msgs5-dev libignition-tools-dev
libignition-transport8 libignition-transport8-core-dev
libignition-transport8-dev libignition-transport8-log
libignition-transport8-log-dev libilmbase-dev
libilmbase24 libjbig-dev libjpeg-dev libjpeg-turbo8-dev
libjpeg8-dev libjs-jquery libjs-jquery-ui libjson-c-dev
libjsoncpp-dev libjsoncpp1 libjxr0 libkadm5clnt-mit11
libkadm5srv-mit11 libkdb5-9 libkml-dev libkmlbase1
libkmlconvenience1 libkmldom1 libkmlengine1
libkmlregionator1 libkmlxsd1 libkrb5-dev liblab-gamut1
liblapack-dev liblapack3 libldap2-dev liblept5 libllvm10
liblog4cxx-dev liblog4cxx10v5 libltdl-dev liblz4-dev
liblzma-dev libmail-sendmail-perl libminizip-dev
libminizip1 libmount-dev libmpx2 libmysqlclient-dev
libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev
libnetcdf15 libnl-3-dev libnl-route-3-dev libnorm-dev
libnuma-dev libodbc1 libogdi-dev libogdi4.1 libogg-dev
libogre-1.9-dev libogre-1.9.0v5 libopenal-data
libopenal1 libopencv-calib3d-dev libopencv-calib3d4.2
libopencv-contrib-dev libopencv-contrib4.2
libopencv-core-dev libopencv-core4.2 libopencv-dev
libopencv-dnn-dev libopencv-dnn4.2
libopencv-features2d-dev libopencv-features2d4.2
libopencv-flann-dev libopencv-flann4.2
libopencv-highgui-dev libopencv-highgui4.2
libopencv-imgcodecs-dev libopencv-imgcodecs4.2
libopencv-imgproc-dev libopencv-imgproc4.2
libopencv-ml-dev libopencv-ml4.2 libopencv-objdetect-dev
libopencv-objdetect4.2 libopencv-photo-dev
libopencv-photo4.2 libopencv-shape-dev
libopencv-shape4.2 libopencv-stitching-dev
libopencv-stitching4.2 libopencv-superres-dev
libopencv-superres4.2 libopencv-ts-dev
libopencv-video-dev libopencv-video4.2
libopencv-videoio-dev libopencv-videoio4.2
libopencv-videostab-dev libopencv-videostab4.2
libopencv-viz-dev libopencv-viz4.2 libopencv4.2-java
libopencv4.2-jni libopenexr-dev libopenexr24
libopengl-dev libopengl0 libopenjp2-7-dev libopenmpi-dev
libopenmpi3 libopenni-dev libopenni-sensor-pointclouds0
libopenni0 libopenni2-0 libopenni2-dev liborocos-kdl-dev
liborocos-kdl1.4 libpango1.0-dev libpathplan4
libpcl-apps1.10 libpcl-common1.10 libpcl-dev
libpcl-features1.10 libpcl-filters1.10 libpcl-io1.10
libpcl-kdtree1.10 libpcl-keypoints1.10 libpcl-ml1.10
libpcl-octree1.10 libpcl-outofcore1.10 libpcl-people1.10
libpcl-recognition1.10 libpcl-registration1.10
libpcl-sample-consensus1.10 libpcl-search1.10
libpcl-segmentation1.10 libpcl-stereo1.10
libpcl-surface1.10 libpcl-tracking1.10
libpcl-visualization1.10 libpcre16-3 libpcre2-16-0
libpcre2-dev libpcre2-posix2 libpcre3-dev libpcre32-3
libpcrecpp0v5 libpgm-dev libpixman-1-dev libpmix2
libpng-dev libpng-tools libpoco-dev libpococrypto62
libpocodata62 libpocodatamysql62 libpocodataodbc62
libpocodatasqlite62 libpocoencodings62
libpocofoundation62 libpocojson62 libpocomongodb62
libpoconet62 libpoconetssl62 libpocoredis62
libpocoutil62 libpocoxml62 libpocozip62 libpoppler-dev
libpoppler-private-dev libpostproc-dev libpq-dev libpq5
libproj-dev libproj15 libprotobuf-dev libprotobuf-lite17
libprotoc-dev libprotoc17 libpsm-infinipath1 libpsm2-2
libpthread-stubs0-dev libpyside2-dev libpyside2-py3-5.14
libpython3-dev libpython3.8-dev libqhull-dev libqhull-r7
libqhull7 libqt5concurrent5 libqt5core5a libqt5dbus5
libqt5designer5 libqt5designercomponents5 libqt5gui5
libqt5help5 libqt5network5 libqt5opengl5
libqt5opengl5-dev libqt5positioning5 libqt5printsupport5
libqt5qml5 libqt5quick5 libqt5quickparticles5
libqt5quickshapes5 libqt5quicktest5 libqt5quickwidgets5
libqt5sensors5 libqt5sql5 libqt5sql5-sqlite libqt5svg5
libqt5test5 libqt5webchannel5 libqt5webkit5
libqt5webkit5-dev libqt5widgets5 libqt5x11extras5
libqt5xml5 libqwt-qt5-6 libqwt-qt5-dev libraw1394-dev
libraw1394-tools librdmacm1 librhash0 libruby2.7
libsctp-dev libsctp1 libsdformat9 libsdformat9-dev
libsdl2-2.0-0 libselinux1-dev libsepol1-dev
libshiboken2-dev libshiboken2-py3-5.14 libsimbody-dev
libsimbody3.6 libsm-dev libsndio7.0 libsocket++1
libsodium-dev libspatialite-dev libspatialite7 libspnav0
libsqlite3-dev libsub-override-perl libsuperlu-dev
libsuperlu5 libswresample-dev libswscale-dev
libsys-hostname-long-perl libsz2 libtar-dev libtar0
libtbb-dev libtbb2 libtcl8.6 libtesseract4 libthai-dev
libtheora-dev libtiff-dev libtiffxx5 libtinyxml-dev
libtinyxml2-dev libtinyxml2.6.2v5 libtk8.6 libtool
liburdfdom-dev liburdfdom-headers-dev liburdfdom-model
liburdfdom-model-state liburdfdom-sensor
liburdfdom-world liburiparser-dev liburiparser1
libusb-1.0-0-dev libusb-1.0-doc libvtk6.3 libvtk7-dev
libvtk7-java libvtk7-jni libvtk7-qt-dev libvtk7.1p
libvtk7.1p-qt libvulkan-dev libwayland-bin
libwayland-dev libwebp-dev libx11-dev libxau-dev
libxcb-render0-dev libxcb-shm0-dev libxcb-xinerama0
libxcb-xinput0 libxcb1-dev libxcomposite-dev
libxcursor-dev libxdamage-dev libxdmcp-dev
libxerces-c-dev libxerces-c3.2 libxext-dev libxfixes-dev
libxft-dev libxi-dev libxinerama-dev libxkbcommon-dev
libxml2-dev libxml2-utils libxmu-dev libxmu-headers
libxnvctrl0 libxrandr-dev libxrender-dev libxss-dev
libxt-dev libxtst-dev libyaml-cpp-dev libyaml-cpp0.6
libyaml-dev libzip-dev libzmq3-dev libzstd-dev
libzzip-0-13 m4 mpi-default-bin mpi-default-dev odbcinst
odbcinst1debian2 opencv-data openmpi-bin openmpi-common
openni-utils pango1.0-tools po-debconf proj-bin
proj-data protobuf-compiler pyqt5-dev
python-matplotlib-data python3-autobahn
python3-catkin-pkg python3-catkin-pkg-modules
python3-cbor python3-cycler python3-defusedxml
python3-dev python3-distutils python3-docutils
python3-empy python3-gnupg python3-kiwisolver
python3-lz4 python3-matplotlib python3-mpi4py
python3-nose python3-numpy python3-opencv python3-opengl
python3-png python3-psutil python3-pycryptodome
python3-pydot python3-pygments python3-pykdl
python3-pyparsing python3-pyqrcode python3-pyqt5
python3-pyqt5.qtopengl python3-pyqt5.qtsvg
python3-pyqt5.qtwebkit python3-pyside2.qtcore
python3-pyside2.qtgui python3-pyside2.qtsvg
python3-pyside2.qtwidgets python3-roman
python3-rosdep-modules python3-rosdistro
python3-rosdistro-modules python3-rospkg
python3-rospkg-modules python3-setuptools python3-sip
python3-sip-dev python3-snappy python3-tk python3-trie
python3-txaio python3-u-msgpack python3-ubjson
python3-vtk7 python3-wsaccel python3.8-dev qdoc-qt5
qhelpgenerator-qt5 qt5-assistant qt5-gtk-platformtheme
qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins
qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools
qtchooser qtdeclarative5-dev qtdeclarative5-dev-tools
qttools5-dev qttools5-dev-tools qttools5-private-dev
qttranslations5-l10n rake ros-noetic-actionlib
ros-noetic-actionlib-msgs ros-noetic-actionlib-tutorials
ros-noetic-angles ros-noetic-bond ros-noetic-bond-core
ros-noetic-bondcpp ros-noetic-bondpy
ros-noetic-camera-calibration
ros-noetic-camera-calibration-parsers
ros-noetic-camera-info-manager ros-noetic-catkin
ros-noetic-class-loader ros-noetic-cmake-modules
ros-noetic-common-msgs ros-noetic-common-tutorials
ros-noetic-compressed-depth-image-transport
ros-noetic-compressed-image-transport
ros-noetic-control-msgs ros-noetic-control-toolbox
ros-noetic-controller-interface
ros-noetic-controller-manager
ros-noetic-controller-manager-msgs ros-noetic-cpp-common
ros-noetic-cv-bridge ros-noetic-depth-image-proc
ros-noetic-desktop ros-noetic-desktop-full
ros-noetic-diagnostic-aggregator
ros-noetic-diagnostic-analysis
ros-noetic-diagnostic-common-diagnostics
ros-noetic-diagnostic-msgs ros-noetic-diagnostic-updater
ros-noetic-diagnostics ros-noetic-diff-drive-controller
ros-noetic-dynamic-reconfigure
ros-noetic-eigen-conversions ros-noetic-executive-smach
ros-noetic-filters ros-noetic-forward-command-controller
ros-noetic-gazebo-dev ros-noetic-gazebo-msgs
ros-noetic-gazebo-plugins ros-noetic-gazebo-ros
ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs
ros-noetic-gencpp ros-noetic-geneus ros-noetic-genlisp
ros-noetic-genmsg ros-noetic-gennodejs ros-noetic-genpy
ros-noetic-geometry ros-noetic-geometry-msgs
ros-noetic-geometry-tutorials ros-noetic-gl-dependency
ros-noetic-hardware-interface ros-noetic-image-common
ros-noetic-image-geometry ros-noetic-image-pipeline
ros-noetic-image-proc ros-noetic-image-publisher
ros-noetic-image-rotate ros-noetic-image-transport
ros-noetic-image-transport-plugins ros-noetic-image-view
ros-noetic-interactive-marker-tutorials
ros-noetic-interactive-markers
ros-noetic-joint-limits-interface
ros-noetic-joint-state-controller
ros-noetic-joint-state-publisher
ros-noetic-joint-state-publisher-gui
ros-noetic-kdl-conversions ros-noetic-kdl-parser
ros-noetic-laser-assembler ros-noetic-laser-filters
ros-noetic-laser-geometry ros-noetic-laser-pipeline
ros-noetic-librviz-tutorial ros-noetic-map-msgs
ros-noetic-media-export ros-noetic-message-filters
ros-noetic-message-generation ros-noetic-message-runtime
ros-noetic-mk ros-noetic-nav-msgs ros-noetic-nodelet
ros-noetic-nodelet-core ros-noetic-nodelet-topic-tools
ros-noetic-nodelet-tutorial-math
ros-noetic-pcl-conversions ros-noetic-pcl-msgs
ros-noetic-pcl-ros ros-noetic-perception
ros-noetic-perception-pcl ros-noetic-pluginlib
ros-noetic-pluginlib-tutorials ros-noetic-polled-camera
ros-noetic-position-controllers
ros-noetic-python-qt-binding ros-noetic-qt-dotgraph
ros-noetic-qt-gui ros-noetic-qt-gui-cpp
ros-noetic-qt-gui-py-common ros-noetic-qwt-dependency
ros-noetic-realtime-tools ros-noetic-resource-retriever
ros-noetic-robot ros-noetic-robot-state-publisher
ros-noetic-ros ros-noetic-ros-base ros-noetic-ros-comm
ros-noetic-ros-core ros-noetic-ros-environment
ros-noetic-ros-tutorials ros-noetic-rosbag
ros-noetic-rosbag-migration-rule
ros-noetic-rosbag-storage ros-noetic-rosbash
ros-noetic-rosboost-cfg ros-noetic-rosbuild
ros-noetic-rosclean ros-noetic-rosconsole
ros-noetic-rosconsole-bridge ros-noetic-roscpp
ros-noetic-roscpp-core ros-noetic-roscpp-serialization
ros-noetic-roscpp-traits ros-noetic-roscpp-tutorials
ros-noetic-roscreate ros-noetic-rosgraph
ros-noetic-rosgraph-msgs ros-noetic-roslang
ros-noetic-roslaunch ros-noetic-roslib
ros-noetic-roslint ros-noetic-roslisp ros-noetic-roslz4
ros-noetic-rosmake ros-noetic-rosmaster
ros-noetic-rosmsg ros-noetic-rosnode ros-noetic-rosout
ros-noetic-rospack ros-noetic-rosparam ros-noetic-rospy
ros-noetic-rospy-tutorials ros-noetic-rosservice
ros-noetic-rostest ros-noetic-rostime
ros-noetic-rostopic ros-noetic-rosunit ros-noetic-roswtf
ros-noetic-rqt-action ros-noetic-rqt-bag
ros-noetic-rqt-bag-plugins ros-noetic-rqt-common-plugins
ros-noetic-rqt-console ros-noetic-rqt-dep
ros-noetic-rqt-graph ros-noetic-rqt-gui
ros-noetic-rqt-gui-cpp ros-noetic-rqt-gui-py
ros-noetic-rqt-image-view ros-noetic-rqt-launch
ros-noetic-rqt-logger-level ros-noetic-rqt-moveit
ros-noetic-rqt-msg ros-noetic-rqt-nav-view
ros-noetic-rqt-plot ros-noetic-rqt-pose-view
ros-noetic-rqt-publisher ros-noetic-rqt-py-common
ros-noetic-rqt-py-console ros-noetic-rqt-reconfigure
ros-noetic-rqt-robot-dashboard
ros-noetic-rqt-robot-monitor
ros-noetic-rqt-robot-plugins
ros-noetic-rqt-robot-steering
ros-noetic-rqt-runtime-monitor ros-noetic-rqt-rviz
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ros-noetic-stereo-image-proc ros-noetic-stereo-msgs
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Install ros-noetic-desktop

ros-noetic-desktop is a trimmed-down version of ros-noetic-desktop-full, also containing most tutorials packages. Specifically, it includes the following packages:

• robot
• vis
• angles
• common_tutorials
• geometry_tutorials
• joint_state_publisher_gui
• ros_tutorials
• roslint
• urdf_tutorial
• visualization_tutorials

To install ros-noetic-desktop, run

sudo apt install ros-noetic-desktop

Install ros-noetic-base

As you might guess, ros-noetic-base only contains the basic ROS packages. It extends ros_core and includes other basic non-robot tools like actionlib, dynamic reconfigure, nodelets, and pluginlib.

To install ros-noetic-base, run

sudo apt install ros-noetic-base

Install ros-noetic-core

The ros-noetic-core is a collection of the bare minimum core packages. The packages are required for publishers, subscribers, services, launch files, and other core ROS concepts. Here is the full list:

• catkin
• class_loader
• cmake_modules
• common_msgs
• gencpp
• geneus
• genlisp
• genmsg
• gennodejs
• genpy
• message_generation
• message_runtime
• pluginlib
• ros
• ros_comm
• rosbag_migration_rule
• rosconsole
• rosconsole_bridge
• roscpp_core
• rosgraph_msgs
• roslisp
• rospack
• std_msgs
• std_srvs

To install ros-noetic-core, run

sudo apt install ros-noetic-core

Set up ROS Noetic environment

After installing ROS Noetic on your Ubuntu 20.04 computer, we will now set up your environment. In order to use ROS terminal commands and let catkin find your ROS program files such as header files in your includes directory, you will need to run the setup.bash file after you run apt install. To do that, run the following command:

source /opt/ros/noetic/setup.bash

To avoid run the command above every time, which is especially true when you are developing with ROS, it is recommended to put it in the .bashrc file located in the home directory ~. To do it run the following:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

Run tail ~/.bashrc to double check, you should see the setup.bash is being sourced:

To make it take effect, either open a new terminal tab (Ctrl-Shift-t in the default GNOME terminal) or run source ~/.bashrc or . ~/.bashrc. The dot . is a shortcut of source.

In case you are using zsh instead of bash, run the follow command instead:

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc

Again, to make it take effect, either open a new terminal tab (Ctrl-Shift-t) or window (Ctrl-Shift-n) or run source ~/.zshrc.

Verify Noetic installation

Congratulations! Now you learned how to install ROS Noetic on Ubuntu 20.04. But how do we know it is installed successfully?

We can simply run roscd. You can see the current directory of your prompt is changed to where we installed Noetic: /opt/ros/noetic.

We can also verify the installation by running roscore to start a ros master. You will see the roscore is logging in a log file in ~/.ros/log/. You can also see the ros distro and the ros version in the summary. In addition, you also know the ROS master URI is on the 11311 port which is the default ROS port.

Have fun programming your robot with the latest ROS release ROS Noetic on the latest Ubuntu — Ubuntu 20.04!

Reference:

http://wiki.ros.org/noetic/Installation/Ubuntu

http://wiki.ros.org/Distributions#Noetic_Ninjemys

4 Steps to Install ROS Noetic on Ubuntu 20.04

FAQ

Let us know if you have any other questions in the comment!

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