Mr. Robert Francis Noonan of Waltham died Friday March 5, 2004 in Sancta Maria Nursing Facility in Cambridge. He was 81. Born in Brighton, a son of the late Joseph and Elizabeth (McGuiness), Noonan, Mr. Noonan was a Truck Driver for many years for New England Transportation . Mr. Noonan was a parishioner of Saint Jude Church in Waltham for many years. Mr. Noonan was a World War II veteran serving in the U.S. Army. Mr. Noonan was the brother of the late Joseph Noonan and John Noonan Mr. Noonan is survived by his Beloved wife Adeline Rose (Pullano) Noonan, his Devoted daughter Betty Ann Noonan and her husband Dennis Erickson of Waltham, one brother, Raymond Noonan and his wife Anne of Minnesota, one sister Eleanor Craig and her husband James of Brighton, one sister in law Marilyn Noonan of Brighton, two loving granddaughters Kristen and Jennifer Erickson and many nieces and nephews. The Funeral will be held Wednesday at 9:30 a.m. from The Joyce Funeral Home, 245 Main Street (Rte.20), Waltham. Followed by a Funeral Mass in Saint Jude Church, 147 Main Street, Waltham at 10:30 a.m. Burial will be in Cambridge Cemetery. Visiting hours Tuesday 4-8 p.m.