/usr/lib/x86_64-linux-gnu/pkgconfig/tf2_ros.pc is in libtf2-ros-dev 0.5.16-4.
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: tf2_ros
Description: Description of tf2_ros
Version: 0.5.16
Cflags:
Libs: -ltf2_ros
Requires: actionlib actionlib_msgs geometry_msgs message_filters roscpp rosgraph tf2 tf2_msgs tf2_py
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