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I'm currently running Ubuntu 16.04, and have ros-kinetic-desktop-full installed. I also need to install python3-rospkg. However, when I try to install this, it autoremoves all extra packages installed by the kinetic installation.

How can I keep this from happening?

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Try marking "on hold" the package(s) you do not want to be removed:

sudo apt-mark hold ros-kinetic-desktop-full

Then install python3-rospkg.

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