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You are right in thinking that you are missing packages. You could manually install them, but this could be time consuming if you are missing a bunch of them. You can use rosdep to automatically install ros dependencies for a given package. Once you've installed rosdep (instructions in link above), you can move into the top level of your catkin workspace and run the command rosdep install --from-paths src --ignore-src -r -y, which will automatically install all of the deps that you need for imu_tools.