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I figured it out now. I had two problems.

Firstly, Its confusing knowing what gazebo version to use with what ros2 version. and which one to use isn't immediately obvious. Following the below guide, I saw that my version of ROS2(foxy), only supported citadel.

(or if that link is dead, if you're using an LTS ROS2 version(foxy), use gazebo(citadel), or if you're using the latest ROS2, use the latest version of gazebo(garden)

Second, I found the install from source guide for Ubuntu + gazebo citadel here: