/usr/lib/pkgconfig/visualization_msgs.pc is in libvisualization-msgs-dev 1.12.5-3.
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: visualization_msgs
Description: Description of visualization_msgs
Version: 1.12.5
Cflags:
Libs:
Requires: geometry_msgs message_runtime std_msgs
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