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If you do want to use Ignition Gazebo and not Gazebo 11 I suggest looking at the tutorials for Gazebo Citadel, that's the version that's recommended for ROS2 Foxy. It also includes a link of requirements where it tells you how to install Citadel.

I'm not sure if the tutorial you've linked is up to date. It might very well be. However, the tutorial I linked is from the folks over at Gazebo.