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I can reproduce the problem. You're right about the missing pc file.

The problem is that the package does not declare a runtime dependency on libgazebo5-dev which is the package that provides the .pc file.

The quick workaround is to apt-get update && apt-get install -y libgazebo5-dev

Please ticket this for gazebo_ros since using the pc file makes libgazebo5-dev a missing runtime dependency.

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