We can use the below init script to install the packages in the cluster:

%scala
 
dbutils.fs.put("dbfs:/databricks/init_scripts/rlib.sh", """
 
#!/bin/bash
 
sudo apt-get install -y libudunits2-dev
 
sudo add-apt-repository ppa:ubuntugis/ubuntugis-unstable
 
sudo apt-get install -y libudunits2-dev libgdal-dev libgeos-dev libproj-dev
 
sudo apt-get install -y libfontconfig1-dev
 
sudo apt-get install -y libcairo2-dev
 
sudo apt-get install -y libprotobuf-dev
 
sudo apt-get install -y protobuf-compiler
 
sudo add-apt-repository -y ppa:opencpu/jq
 
sudo apt-get install -y libjq-dev
 
sudo apt-get install -y libv8-dev
 
R -e 'install.packages(c("rgdal", "RJDBC", "sf", "rgeos"), dependencies = T, repos = "https://cran.r-project.org")'
 
""",true)