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In the file manifest.xml, delete the line,

<rosdep name="libg2o"/>

and write,

<depend package="g2o"/>.

then try to make it.

In the file manifest.xml, delete the line,

<rosdep name="libg2o"/>

and write,

<depend package="g2o"/>.

then try to make it.

I assume that you use ros-electric. If so, you can solve only this error by editing as explained above. If you want to really solve the problem, look into file rosdep.yaml