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I think you might have an error in your CMakeLists.txt and package.xml. The package that you list in it should be tf and not tfConfig. The Config.cmake and -config.cmake are generated when the particular package is built and checked for when building its dependancies. If you don't have the tf package, it can be installed as sudo apt-get install ros-kinetic-tf

I think you might have an error in your CMakeLists.txt and package.xml. The package that you list in it should be tf and not tfConfig. The Config.cmake and -config.cmake are generated when the particular package is built and checked for when building its dependancies. If you don't have the tf package, it can be installed as sudo apt-get install ros-kinetic-tf

Refer: https://answers.ros.org/question/193807/cmake-error-tf-while-building-ar_track_alvar/