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To increase visibility I posting my comment as an answer (we received quite some complaints).
As of Webots R2021c (or R2022a), ROS Noetic will work with the Debian package (but ROS Melodic will not).
Under-the-hood: Cyberbotics uses a CI based on Ubuntu 18.04 to build the Debian package. Since the ros controller comes as a precompiled binary it is linked against Ubuntu 18.04/Melodic libraries (some of which don't exist on Ubuntu 20.04/Noetic). Cyberbotics have upgraded the CI to use Ubuntu 20.04 (see cyberbotics/webots#3507) for Webots R2021c (or R2022a), so in the future Noetic users will not have any more issues with the Debian packages.
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