ubuntu20.04基于ROS的PX4在gazebo仿真下编译：make px4_sitl_default gazebo报错求解答！

报错如下：
 

[0/865] git submodule src/drivers/gps/devices
[6/865] git submodule src/modules/mavlink/mavlink
[12/865] git submodule Tools/sitl_gazebo
[14/865] Generating Mavlink developmen...ssage_definitions/v1.0/development.xml
WARNING: Failed to import lxml module etree. Are lxml, libxml2 and libxslt installed? XML validation will not be performed
Validation skipped for /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml.
Parsing /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/development.xml
Validation skipped for /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml.
Parsing /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
Validation skipped for /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml.
Parsing /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Validation skipped for /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml.
Parsing /home/wlxf/PX4_Firmware/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Merged enum MAV_CMD
Merged enum MAV_CMD
Found 229 MAVLink message types in 4 XML files
Generating C implementation in directory /home/wlxf/PX4_Firmware/build/px4_sitl_default/mavlink/development
Generating C implementation in directory /home/wlxf/PX4_Firmware/build/px4_sitl_default/mavlink/standard
Generating C implementation in directory /home/wlxf/PX4_Firmware/build/px4_sitl_default/mavlink/common
Generating C implementation in directory /home/wlxf/PX4_Firmware/build/px4_sitl_default/mavlink/minimal
Copying fixed headers for protocol 2.0 to /home/wlxf/PX4_Firmware/build/px4_sitl_default/mavlink
[25/865] Performing configure step for 'sitl_gazebo'
-- install-prefix: /usr/local
-- cmake build type: RelWithDebInfo
-- Using C++17 standard
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem 
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart 
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time 
-- Looking for ignition-math6 -- found version 6.15.1
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Looking for ignition-math6 -- found version 6.15.1
-- Looking for ignition-transport8 -- found version 8.5.0
-- Searching for dependencies of ignition-transport8
-- Checking for module 'uuid'
--   Found uuid, version 2.34.0
-- Looking for ignition-msgs5 -- found version 5.11.0
-- Searching for dependencies of ignition-msgs5
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "3") 
-- Looking for ignition-math6 -- found version 6.15.1
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 6.2.0
-- Looking for ignition-msgs5 -- found version 5.11.0
-- Looking for ignition-common3 -- found version 3.17.0
-- Searching for dependencies of ignition-common3
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Searching for <ignition-common3> component [graphics]
-- Looking for ignition-common3-graphics -- found version 3.17.0
-- Searching for dependencies of ignition-common3-graphics
-- Looking for ignition-math6 -- found version 6.15.1
-- Looking for ignition-fuel_tools4 -- found version 4.9.1
-- Searching for dependencies of ignition-fuel_tools4
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.7.4
-- Checking for module 'yaml-0.1'
--   Found yaml-0.1, version 0.2.2
-- Checking for module 'libzip'
--   Found libzip, version 1.5.1
-- Looking for ignition-common3 -- found version 3.17.0
-- Looking for ignition-math6 -- found version 6.15.1
-- Looking for ignition-msgs5 -- found version 5.11.0
-- Building klt_feature_tracker without catkin
-- Building OpticalFlow with OpenCV
-- catkin DISABLED
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") 
-- Gazebo version: 11.14
-- Found GStreamer: adding gst_camera_plugin
-- Found GStreamer: adding gst_video_stream_widget
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
Boost_INCLUDE_DIR
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests
   used as include directory in directory /home/wlxf/PX4_Firmware/Tools/sitl_gazebo/unit_tests

-- Configuring incomplete, errors occurred!
See also "/home/wlxf/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log".
See also "/home/wlxf/PX4_Firmware/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log".
[66/865] Linking CXX static library src/lib/mixer/libmixer.a
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure 
cd /home/wlxf/PX4_Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/wlxf/PX4_Firmware/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/wlxf/PX4_Firmware/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[70/865] Generating parameters.xml
ninja: build stopped: subcommand failed.
make: *** [Makefile:230：px4_sitl_default] 错误 1
请求解答，万分感谢！