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Your are missing a rosdep file that defines how to download libsfmt for your OS. If there is a rosdep.yaml file with the package, it might also only been missing the entry for 11.04 (but has a one for libsfmt). In that case you can just add the entry.

If there is no rosdep.yaml, and you know that the library you installed is the one that it is looking for, you can remove the dependency from the manifest.xml or write a rosdep file for that.

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