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You can't install install Kinetic packages using apt while using Ubuntu 18.04 as they require 16.04. You can try cloning it into your workspace and compiling it yourself.

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-drivers/vrpn_client_ros.git
cd ..
catkin_make
source devel/setup.bash

I used the kinetic-devel branch as it appears to be the latest one.

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