How to install libraries?

Presumably this is an error from a configure script?

The error is referring to pkg-config package files. These do not correspond one-to-one with Ubuntu/Debian package names (since they are not Debian or Ubuntu specific).

In this particular case, the dbus-1.pc file is found in the libdbus-1-dev Ubuntu package, and dbus-glib-1.pc is found in the libdbus-glib-1-dev Ubuntu package. Installing those two should satisfy the dependencies of that configure script check.