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All audio_common packages appear to state their dependencies correctly in their package manifests.

That leads to two questions:

do you need to build the audio_common packages from sources? This seems to suggest a simple apt install ros-lunar-audio-common should work
if you need to build from sources: have you ran the obligatory rosdep install --from-paths /your/catkin_ws/src -i? Refer to #q252478 for an example workflow.

As a general recommendation: always prefer to use apt on Ubuntu. Only build packages from source if you have to.

All audio_common packages appear to state their dependencies correctly in their package manifests.

That leads to two questions:

do you need to build the audio_common packages from sources? This seems to suggest a simple apt install ros-lunar-audio-common should work
if you need to build from sources: have you ran the obligatory rosdep install --from-paths /your/catkin_ws/src -i? Refer to #q252478 for an example workflow.

As a general recommendation: always prefer to use apt on Ubuntu. Only build packages from source if you have to.

Edit:

Forgive the naivete but how do I know if there is a package I can install through apt?

I believe #q320046 should clear this up.