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You can check if a specific package is released for a specific distro using the repositories.ros.org Status Pages. Choose the appropriate distro and architecture. I.e. for Noetic, go for ros_noetic_default. Then you can search if a package is released and which version has been synced to which package repository (testing, main).

To install packages, basically what @praskot said, is: sudo apt install ros-<DISTRO>-<PKG> with all underscores in the package name converted to dashes -.