Check the c++ version installed

g++ --version

If output looks like

g++ (Ubuntu 9.3.0-17ubuntu1~20.04) 9.3.0

GCC 4.8 and above support C++11, so any recent version, such as the one mentioned above, will work.

Download pangolin
https://github.com/stevenlovegrove/Pangolin

Clone Pangolin along with it's submodules

git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
./scripts/install_prerequisites.sh --dry-run recommended

While executing above command i encountered an error E: Unable to locate package catch2

I resolved it by building catch2 from git

git clone https://github.com/catchorg/Catch2.git
cd Catch2
cmake -B build -S . -DBUILD_TESTING=OFF
sudo cmake --build build/ --target install

After Catch2 installation i removed all mentions of catch2 from install_prereqisites.sh and ran the install_prerequisites.sh again