/usr/include/geometry_msgs/ is in libgeometry-msgs-dev 1.12.5-3.
This file is owned by root:root, with mode 0o755.
..
/usr/include/geometry_msgs/Accel.h
/usr/include/geometry_msgs/AccelStamped.h
/usr/include/geometry_msgs/AccelWithCovariance.h
/usr/include/geometry_msgs/AccelWithCovarianceStamped.h
/usr/include/geometry_msgs/Inertia.h
/usr/include/geometry_msgs/InertiaStamped.h
/usr/include/geometry_msgs/Point.h
/usr/include/geometry_msgs/Point32.h
/usr/include/geometry_msgs/PointStamped.h
/usr/include/geometry_msgs/Polygon.h
/usr/include/geometry_msgs/PolygonStamped.h
/usr/include/geometry_msgs/Pose.h
/usr/include/geometry_msgs/Pose2D.h
/usr/include/geometry_msgs/PoseArray.h
/usr/include/geometry_msgs/PoseStamped.h
/usr/include/geometry_msgs/PoseWithCovariance.h
/usr/include/geometry_msgs/PoseWithCovarianceStamped.h
/usr/include/geometry_msgs/Quaternion.h
/usr/include/geometry_msgs/QuaternionStamped.h
/usr/include/geometry_msgs/Transform.h
/usr/include/geometry_msgs/TransformStamped.h
/usr/include/geometry_msgs/Twist.h
/usr/include/geometry_msgs/TwistStamped.h
/usr/include/geometry_msgs/TwistWithCovariance.h
/usr/include/geometry_msgs/TwistWithCovarianceStamped.h
/usr/include/geometry_msgs/Vector3.h
/usr/include/geometry_msgs/Vector3Stamped.h
/usr/include/geometry_msgs/Wrench.h
/usr/include/geometry_msgs/WrenchStamped.h