/usr/lib/x86_64-linux-gnu/pkgconfig/tf.pc is in libtf-dev 1.11.8-4.
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: tf
Description: Description of tf
Version: 1.11.8
Cflags:
Libs: -ltf
Requires: geometry_msgs message_filters message_runtime roscpp sensor_msgs std_msgs tf2_ros rosconsole
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