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I finally got it to work! Essenially, I installed the libtinyxml2-dev on top of everything. This apparently added the header files ROS was looking for. It now works fine!
This is what I get when searching with apt on my BeagleBone
user@beaglebone:~/RBE-2002# apt search tinyxml
Sorting... Done
Full Text Search... Done
libtinyxml-dev/oldstable,now 2.6.2-2 armhf [installed]
TinyXml library - header and static library
libtinyxml-doc/oldstable 2.6.2-2 all
TinyXml library - documentation files
libtinyxml2-2/oldstable,now 2.2.0-1 armhf [installed]
C++ XML parsing library
libtinyxml2-dev/oldstable,now 2.2.0-1 armhf [installed]
TinyXML2 library - header and static library
libtinyxml2.6.2/oldstable,now 2.6.2-2 armhf [installed]
C++ XML parsing library
libtinyxml2.6.2-dbg/oldstable 2.6.2-2 armhf
TinyXml library - debug files
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