CRAN is telling you where you can find the package:
https://cran.r-project.org/package=lavaan.surveyDownload the latest version, say, to your ~/Downloads folder, then install directly from that source file. Or you can install from the
install.packages("~/Downloads/lavaan.survey_1.1.3.1.tar.gz", type = "source", repos = NULL)
But lavaan itself can now handle both survey weights and clustering (read arguments on ?lavaan help page). However, it does not account for sampling strata.
Terrence D. Jorgensen
Assistant Professor, Methods and Statistics
Research Institute for Child Development and Education, the University of Amsterdam