sudo apt-get install -y build-essential libboost-system-dev libboost-thread-dev libboost-program-options-dev libboost-test-dev
sudo apt-get install -y libtinyxml-dev
sudo apt-get install -y libmuparser-dev
sudo apt-get install -y libudev-dev
sudo apt-get install -y ros-noetic-serial
sudo apt-get install -y ros-noetic-realtime-tools
sudo apt-get install -y ros-noetic-diagnostic-updater
sudo apt-get install -y ros-noetic-control-msgs
sudo apt-get install -y ros-noetic-eigen-conversions
sudo apt-get install -y ros-noetic-controller-manager
sudo apt-get install -y ros-noetic-filters
sudo apt-get install -y ros-noetic-joint-limits-interface 
sudo apt-get install -y ros-noetic-pcl-ros