The error "Configuration failed to find 'poppler-cpp' system library" usually means that the software can't locate the Poppler library, which is needed for working with PDF files. This could be because the library isn't installed on your computer or because some important files are missing.
Here are the commands to install "poppler-cpp" on Ubuntu 22:
sudo apt update
sudo apt install libpoppler-cpp-dev
Once "poppler-cpp" is installed, you can install 'pdftools' from Rstudio.