Hi cruddy,
The solution is right there in the error message you received. You are missing some system libraries, which for a Debian-based distro like Ubuntu means you should install libcurl4-openssl-dev. Open up a terminal (CTRL+ALT+t) and type
sudo apt install -y libcurl4-openssl-dev
Then try and re-install the packages in R.
PS --- There are a couple of alternative R package installation methods that automatically take care of this kind of thing (e.g. pre-compiled binaries and installing system dependencies on Ubuntu). But the above solution is probably the easiest for you rn.