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Yes, you should use another driver.
The Readme of the library states:
Driver for the CH Robotics UM7 inertial measurement device without ROS.
They seem to have forked a ROS driver and removed all ROS related part in the code and the CMakeLists.txt
. This is why the messages aren't built. I would suggest to try the one in ros-drivers. Though this does not seem to be supported in noetic...