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I had the same problem with Foxy and Neotic. To solve it;

  • Remove Neotic and Foxy source from bash
  • In Foxy worskspace install/setup.bash (line22) COLCON_CURRENT_PREFIX="/opt/ros/noetic" change noetic to foxy
  • Delete and reinstall neotic

sudo apt-get remove ros-noetic-*

  • Source the workspace correctly.