diff --git a/projects/default/controllers/ros/Makefile b/projects/default/controllers/ros/Makefile
index ea2b4ddee26..91359841ac3 100644
--- a/projects/default/controllers/ros/Makefile
+++ b/projects/default/controllers/ros/Makefile
@@ -64,11 +64,20 @@ include/services/%.h: $(WEBOTS_HOME_PATH)/resources/webots_ros/srv/%.srv include
 	@echo "# generating service header" $(notdir $<)
 	$(SILENT)$(PYTHON_COMMAND) headersFromSRV.py $<
 
-INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include
+ifeq ($(ROS_PATH),noetic)
+ INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include -isystem /opt/ros/$(ROS_DISTRO)/include
+else
+ INCLUDE = -isystem $(WEBOTS_HOME_PATH)/projects/default/controllers/ros/include
+endif
 
 # include ros libraries
 
-LIBRARIES += -W -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lboost_system
+ifeq ($(ROS_PATH),noetic)
+ LIBRARIES += -L/opt/ros/$(ROS_DISTRO)/lib -Wl,-rpath-link=/opt/ros/$(ROS_DISTRO)/lib -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lcontroller_manager -lboost_system
+else
+ LIBRARIES += -W -lxmlrpcpp -lcpp_common -lrosconsole_backend_interface -lroscpp -lrosconsole -lrosconsole_log4cxx -lroscpp_serialization -lrostime -lboost_system
+endif
+
 ifeq ($(OSTYPE),windows)
  LIBRARIES += -lws2_32
  ifeq ($(MAKECMDGOALS),debug)