Can't use geometry_msgs on a Raspberry Pi 4

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Sorry if this is a simple question, I'm not too experienced with ROS. I downloaded ROS Noetic onto a Raspberry Pi 4 Model B, and I'm trying to use the Bradanlane ros-i2cpwmboard controller. However, whenever I try to to run catkin_make, I get an error that says "fatal error: geometry_msgs/Twist.h: No such file or directory"

I tried going into the ros-12cpwmboard package's CMakeLists, and add geometry_msgs to find_packages and catkin_package (for reference, it ended up like:

find_package(catkin REQUIRED COMPONENTS roscpp std_msgs message_generation geometry_msgs)
...
catkin_package(CATKIN_DEPENDS roscpp std_msgs message_runtime geometry_msgs)

) And then in the package.xml file, I add geometry_msgs to the necessary dependencies (<build_depend>geometry_msgs</build_depend> and <run_depend>geometry_msgs</run_depend>)

When I do this and then try catkin_make again, I instead get this error: 'Could not find a package configuration file provided by "geometry_msgs" with any of the following names "geometry_msgsConfig.cmake" "geometry_msgs-config.cmake"'

I'm using the SunFounder PiCar-V robot car, which can be found here: https://www.sunfounder.com/products/s... Does anyone know what could be the problem? I followed a tutorial on how to download ROS Noetic onto a Raspberry Pi and I was also following a tutorial online on using these packages. Thanks for any help.