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ubuntu-20.04.1-preinstalled-server-arm64+raspi.img.xz This image +
sudo apt install ros-noetic-desktop-full following the step by step ROS instructions worked for me.
usb_cam could see the Raspberry Pi camera.
Some nodes like raspicam_node would not catkin_make, because the ARM64 architecture does not fully support certain features like raspi-config, raspistill so the MMAL architecture is not available. V4L2 is available.
gpu_mem=128
startx=1
need to be added to the /boot/firmware/config.txt (adding them to usercfg.txt has no effect -GRRR.)
Other gottchas - remember you are on python3 - so any .py executables that refer to a 'python' environment will generate a 'missing' error message.
I have seen instructions for installing noetic on Rpi 4 using the Debian Buster image, but I don't think this uses the ARM64 architecture. I looked at the Mate image, but it appears to have the same restrictions as the one I got working.
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