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Linux kernel debug symbols missing for some kernel builds

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I am trying to install debug symbols for the kernel to get SystemTap working. I am getting the below error when I try to install debug symbols:

$ sudo apt-get install linux-image-$(uname -r)-dbgsym
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package linux-image-5.4.0-153-generic-dbgsym
E: Couldn't find any package by glob 'linux-image-5.4.0-153-generic-dbgsym'
E: Couldn't find any package by regex 'linux-image-5.4.0-153-generic-dbgsym'

I tried the unsigned version as below, it gave the same error.

sudo apt-get install linux-image-unsigned-$(uname -r)-dbgsym

As you can see I have the kernel 5.4.0-153 and am running Ubuntu 20.04.

After some searching, I found that debug symbols come from http://ddebs.ubuntu.com/pool/main/l/linux/ I can't find the debug symbols for build 5.4.0-153 in the above link as well. Systemtap only recognizes the kernel debug symbols installed for the current version of the kernel used.

In this case, how can I install kernel debug symbols?

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