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May not qualify as an answer but these errors usually happen when the environment is not set up properly.

Did you follow the previous steps of the tutorial? Especially the "Source an underlay" section, if you install eloquent from binaries it should look similar to https://index.ros.org/doc/ros2/Installation/Eloquent/OSX-Install-Binary/#environment-setup

Also it is surprising that you have to run colcon with sudo. Does it fail differently if you build without sudo?

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