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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. https://gazebosim.org/docs/garden/ros_installation
(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: https://gazebosim.org/docs/citadel/install_ubuntu_src
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