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sudo apt install ros-<distro>-tf2*

In general, you should get familiar with rosdep & errors like this. That's just the canonical error for "yo, you're missing the package mate".

sudo apt install ros-<distro>-tf2*

In general, you should get familiar with rosdep & errors like this. That's just the canonical error for "yo, you're missing the package mate".

error indicates that you either need to install the package with the same name or change your environment so that it can be found.

This error is pretty straight forward but I agree all the text around it can be overwhelming if you're new to C++