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The first thing that I went to check was the posted package.xml contents. The content above correctly lists geometry_msgs as a build dependency. But looking at the Jenkins build log linked above I did not see ros-noetic-geometry-msgs being installed, which it would be if that dependency was found in the package.xml and rendered in the debian/control file for this package.
When looking at the currently released version of the qb_chain_msgs package, version 2.2.2, on bitbucket I saw that the package.xml has no dependencies declared for geometry_msgs.
A new bloom-release of the 2.2.3 version of these packages should resolve this build issue.
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