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I've found several solutions:

  1. Create a symlink between python & python3

  2. use sudo apt-get install python-is-python3, but I'm not sure if it creates just a symlink

  3. The solution I have adopted after testing all 3:

Go to /opt/ros/noetic/lib/turtle_tf2 and modify the first line in f all the python files there #!/usr/bin/env python to #!/usr/bin/env python3. Credits go to https://github.com/ros/geometry_tutorials/issues/32

I've found several solutions:

  1. Create a symlink between python & python3

  2. use sudo apt-get install python-is-python3, but I'm not sure if it creates just a symlink

  3. The solution I have adopted after testing all 3:

Go to /opt/ros/noetic/lib/turtle_tf2 and modify the first line in f all the python files there #!/usr/bin/env python to #!/usr/bin/env python3. Credits go to https://github.com/ros/geometry_tutorials/issues/32