在学习ros2入门21讲时，我克隆了代码并，安装了depc，依赖和colcon，但是运行colcon build后出现了错误：

CMake Error at CMakeLists.txt:9 (find_package): By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake" with any of the following names: ament_cmakeConfig.cmake ament_cmake-config.cmake Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set "ament_cmake_DIR" to a directory containing one of the above files. If "ament_cmake" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< learning_node_cpp [1.21s, exited with code 1] --- stderr: learning_interface CMake Error at CMakeLists.txt:19 (find_package): By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake" with any of the following names: ament_cmakeConfig.cmake ament_cmake-config.cmake Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set "ament_cmake_DIR" to a directory containing one of the above files. If "ament_cmake" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< learning_interface [1.23s, exited with code 1] --- stderr: learning_parameter_cpp CMake Error at CMakeLists.txt:9 (find_package): By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake" with any of the following names: ament_cmakeConfig.cmake ament_cmake-config.cmake Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set "ament_cmake_DIR" to a directory containing one of the above files. If "ament_cmake" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< learning_parameter_cpp [1.21s, exited with code 1] --- stderr: learning_pkg_c CMake Error at CMakeLists.txt:9 (find_package): By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake" with any of the following names: ament_cmakeConfig.cmake ament_cmake-config.cmake Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set "ament_cmake_DIR" to a directory containing one of the above files. If "ament_cmake" provides a separate development package or SDK, be sure it has been installed. --- Failed <<< learning_pkg_c [1.22s, exited with code 1] Aborted <<< learning_tf_cpp [1.21s] Aborted <<< learning_topic_cpp [1.21s] Aborted <<< learning_gazebo [1.46s] Aborted <<< learning_node [1.45s] Aborted <<< learning_pkg_python [1.45s] Aborted <<< learning_cv [1.47s] Aborted <<< learning_tf [1.45s] Aborted <<< learning_parameter [1.46s] Aborted <<< learning_launch [1.47s] Aborted <<< learning_urdf [1.45s] Aborted <<< learning_qos [1.46s] Aborted <<< learning_gazebo_fortress [1.47s] Summary: 0 packages finished [1.67s] 4 packages failed: learning_interface learning_node_cpp learning_parameter_cpp learning_pkg_c 12 packages aborted: learning_cv learning_gazebo learning_gazebo_fortress learning_launch learning_node learning_parameter learning_pkg_python learning_qos learning_tf learning_tf_cpp learning_topic_cpp learning_urdf 6 packages had stderr output: learning_interface learning_node_cpp learning_parameter_cpp learning_pkg_c learning_tf_cpp learning_topic_cpp 5 packages not processed ysj@ysj-virtual-machine:~/ros2

求助