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I switched to Bouncy as suggested by the commenters. This time, I also removed ardent installed via ubuntu. Then I reiterated https://github.com/ros2/ros2/wiki/Linux-Development-Setup. Whatever was the problem before, now it worked fine.

By the way, rosdep uses a distro name and not a ubuntu codename. So if you install on a derivative like Linux mint, add e.g. --os=ubuntu:xenial depending on which version of ubuntu your distro is based.