Any reason to use ubuntu instead of debian ?
Otherwise there is a debian arm64 for raspberry pi 3 :
https://github.com/bamarni/pi64
I do not test it for the latest pi 3b but there is a fork for it.
The installation of the OS is straight forward. Then we can install ros2 directly from the ros2 repo :
https://github.com/ros2/ros2/wiki/Linux-Install-Debians
If it is on any helps...
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