I downloaded the release-upgrader tarball from
http://archive.ubuntu.com/ubuntu/dists/focal-proposed/main/dist-
upgrader-all/current/ (which is necessary because you can't use do-
release-upgrade with -d and -p). I then tried an upgrade having
installed 'ros-melodic-ros-base' and was presented with the following
message:

The Robot Operating System (ROS) is installed

It appears that ROS is currently installed. Each ROS release is very 
strict about the versions of Ubuntu it supports, and Ubuntu upgrades 
can fail if that guidance isn't followed. Before continuing, please 
either uninstall ROS, or ensure the ROS release you have installed 
supports the version of Ubuntu to which you're upgrading. 

For ROS 1 releases, refer to REP 3: 
https://www.ros.org/reps/rep-0003.html 

For ROS 2 releases, refer to REP 2000: 
https://www.ros.org/reps/rep-2000.html 

Are you sure you want to continue?

So I'm setting the tags to verification-done.

** Tags removed: verification-needed verification-needed-focal
** Tags added: verification-done verification-done-focal

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https://bugs.launchpad.net/bugs/1611737

Title:
  Can't upgrade from a release if ros packages are  installed from ROS
  servers

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