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Have you run source /opt/ros/noetic/setup.bash in your current terminal window to update your environment variables to include the installed ROS package paths?

Have you run source /opt/ros/noetic/setup.bash in your current terminal window to update your environment variables to include the installed ROS package paths?

Section 1.5 of the Ubuntu ROS installation instructions has some more guidance about setting up your environment, such as adding the source command to your .bashrc file so it runs automatically when you start a new terminal.

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