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This problem was resolved, description: https://github.com/gazebosim/gazebo-classic/issues/3277
# Check what is going to be removed
dpkg -l | grep '^ii.*\(libignition\|sdformat\|gazebo\).*~focal'
# Remove everything
while [[ -n $(dpkg -l | grep '^ii.*\(libignition\|sdformat\|gazebo\).*~focal' | awk '{ print $2 };') ]]; do sudo dpkg -r $(dpkg -l | grep '^ii.*\(libignition\|sdformat\|gazebo\).*~focal' | awk '{ print $2 }';); done
# Install new Gazebo on Jammy (or just install the humble desktop full)
sudo apt install libgazebo-dev
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