The library you are referring to is an Arduino library.
However, you are creating an ESP-IDF project. This will not work.
You can create an “Arduino as Component” project (framework = arduino, espidf). See the post by eduardogb: Arduino as ESPIF Component in PlatformIO - solution that works
Furthermore, the library must be registered accordingly: Arduino as an ESP-IDF component — Arduino-ESP32 2.0.14 documentation