I have not tested this out as I am using Windows 10 and I believe you are on a Mac, but I am sure Jan will correct me if I make a mistake.
tipc is not a library in the library directory by default, (GitHub), so it is not installed by default.
tipc is available for download at https://github.com/SWI-Prolog/contrib-tipc
This also has an install script install-sh
After this the use_module(library(tipc/tipc)). should work. If not check the physical path on the disk with the path given in use_module.
HTH
Side note
Missing from the list of packages in the documentation: Packs (add-ons) for SWI-Prolog