-dbg packages provide debug symbols for programs and libraries provided by the packages that are named like them but without -dbg. (Sometimes they provide debug symbols for a whole group packages, typically whose names start like them without -dbg and then contain more text.)
In this case, you have libc6 installed (that's a core package without which no Ubuntu system can run), and you want to install libc6-dbg. This must correspond exactly to the installed version of libc6. Getting a separate version of libc6-dbg from a PPA that didn't correspond to the installed version of libc6 would be very bad--it would not be usable.
As this page indicates, on a Lucid system both libc6 and (if it is installed) libc6-dbg should be at version 2.11.1-0ubuntu7.10. So it looks like you have an old version of libc6 installed (which is possibly vulnerable to well-known security bugs!), for which libc6-dbg may no longer be available.
Not only do you have an old version of libc6, but your information about what the latest versions of libc6 and libc6-dbg is out of date. Try this to correct it:
sudo apt-get update
If you're installing packages on the command-line, you should always run that first (unless you've run it just recently).
Then run this to upgrade your system's packages (including libc6):
sudo apt-get upgrade
Then try again:
sudo apt-get install libc6-dbg
If that still doesn't work, check your Software Sources (by going to the Update Manager and clicking the Settings... button at the lower-left corner). Click on the Updates Tab. Make sure that Important security updates (lucid-security) and Recommended updates (lucid-updates) are enabled (checked).

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Then after enabling those software sources, run these commands again:
sudo apt-get update
sudo apt-get upgrade
And then try again:
sudo apt-get install libc6-dbg