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It seems that the problem is that the function "dynamic-completion-table" has changed its name in emacs, now it is called "completion-table-dynamic".
To solve the problem, I changed in the file: "/opt/ros/noetic/share/emacs/site-lisp/rosemacs.el" all occurrences of "dynamic-completion-table" by "completion-table- dynamic". it seems to work for now.