cannot compile RPLIDAR package

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Hello,

I try to compile RPLIDAR package on a RPI4 (melodic)

simple steps

cd ros_catkin_ws
git clone https://github.com/robopeak/rplidar_ros.git
catkin_make

here is the error (sorry I cant format this better) :

-- +++ processing catkin package: 'rplidar_ros'
-- ==> add_subdirectory(rplidar_ros)
-- Could NOT find sensor_msgs (missing: sensor_msgs_DIR)
-- Could not find the required component 'sensor_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /home/pi/ros_catkin_ws/devel/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "sensor_msgs" with
  any of the following names:

    sensor_msgsConfig.cmake
    sensor_msgs-config.cmake

  Add the installation prefix of "sensor_msgs" to CMAKE_PREFIX_PATH or set
  "sensor_msgs_DIR" to a directory containing one of the above files.  If
  "sensor_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  rplidar_ros/CMakeLists.txt:12 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/pi/ros_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/pi/ros_catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:7474: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed