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The tutorial is missing some key instructions for modifying setup.py. Add these lines to the top of setup.py:

from glob import glob
import os

Then the build colcon build --packages-select learning_tf2_py should succeed.

The tutorial source code is here: https://github.com/ros/geometry_tutorials/tree/ros2/turtle_tf2_py

I think it's worth filing a bug against the tutorial so that others don't fall into this trap.

(Sorry for leading you astray earlier!)