I’m letting everybody know that if your Kinetic/Melodic packages depended on libfcl-dev rosdep key, there is a new migration step to get the package reliably working in Noetic:
Diff for "noetic/Migration" - ROS Wiki .
Basically, depending on system-installed FCL may result in 0.5 or 0.6 versions which are very different. That’s why FCL 0.6 was released as a ROS package under the rosdep key fcl. There is no reliable way to get FCL 0.5 in Noetic (not all operating systems have it).