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It looks like the maintainers of rosserial_python have not yet released it into ROS Noetic.

https://github.com/ros-drivers/rosserial/issues/499

In the meantime, you can try building it from source. Clone the repo into your catkin workspace.

cd path/to/your/catin/ws/src
git clone https://github.com/ros-drivers/rosserial.git -b noetic-devel

Then build as usual using whatever tool you prefer: catkin_make or catkin_make_isolated or catkin build, ...

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