/usr/lib/x86_64-linux-gnu/pkgconfig/tf2.pc is in libtf2-dev 0.5.16-4.
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
Description: Description of tf2
Version: 0.5.16
Cflags:
Libs: -ltf2 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4
Requires: geometry_msgs tf2_msgs rostime
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