First, make sure your Debian package index is up-to-date:

• sudo apt update

Now pick how much of ROS you would like to install.

• Desktop-Full Install: (Recommended) : Everything in Desktop plus 2D/3D simulators and 2D/3D perception packages

  • sudo apt install ros-noetic-desktop-full

    or click here

  Desktop Install: Everything in ROS-Base plus tools like rqt and rviz

  • sudo apt install ros-noetic-desktop

    or click here

  ROS-Base: (Bare Bones) ROS packaging, build, and communication libraries. No GUI tools.

  • sudo apt install ros-noetic-ros-base

    or click here

There are even more packages available in ROS. You can always install a specific package directly.

• sudo apt install ros-noetic-PACKAGE

  e.g.

  sudo apt install ros-noetic-slam-gmapping

To find available packages, see ROS Index or use:

apt search ros-noetic