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The comments to #q360774 is what helped me: gazebo_ros_pkgs has to be installed from source:

1. Make sure to have Gazebo installed.
2. Go to workspace src and then git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b ros2 (this clones branch ros2)
3. sudo rosdep update followed by rosdep check --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y. If all goes well you should see "All system dependencies have been satisfied".
4. Move one level above src and then finally colcon build. Don't forget to source this workspace.

The comments to #q360774 is are what helped me: gazebo_ros_pkgs has to be installed from source:

1. Make sure to have Gazebo installed.
2. Go to workspace src and then git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b ros2 (this clones branch ros2)
3. sudo rosdep update followed by rosdep check --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y. If all goes well you should see "All system dependencies have been satisfied".
4. Move one level above src and then finally colcon build. Don't forget to source this workspace.