/usr/lib/x86_64-linux-gnu/pkgconfig/tf2_msgs.pc is in libtf2-msgs-dev 0.5.13-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Name: tf2_msgs
Description: Description of tf2_msgs
Version: 0.5.13
Cflags:
Libs:
Requires: message_generation geometry_msgs actionlib_msgs
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