However, be aware that adding third party repositories may cause problems in the future. For example, if you upgrade to a version of Mint that’s based on 22.04 or 24.04, the updater may throw errors or even do an incomplete update because of broken dependency chains.
If the software you’re using doesn’t depend on (a specific version of) software in the Mint repositories, you should be fine and it shouldn’t matter. I myself have a few external repositories that I know from experience cause no dependency issues. I’ve also had to debug plenty of broken upgrades because of other (popular!) repositories, though.
You may want to use a tool like Distrobox instead. Binaries running inside Distrobox have close to zero overhead. GPU acceleration can be a bit trickier, but for Nvidia GPUs there are workarounds to maintain full performance.
You can also try the version of ROS that Ubuntu packages. It’s not the latest version, but it’s guaranteed to work without breaking your software updates or operating system upgrades in the long term.