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Which version of gazebo is installed? Find out using gazebo --version. For example, I have gazebo 7.

$ gazebo --version
Gazebo multi-robot simulator, version 7.7.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

You'll need the the dev package for that version of gazebo. For gazebo 7 run sudo apt install libgazebo7-dev.

You can find more information about setting up a computer to build plugins in the first few sections of this tutorial http://gazebosim.org/tutorials?tut=guided_i5&cat=.