Hallo i use ros noetic and i want to install and use franka amika robotic arm. After cloning the code from github i tried to do catkinmake in the catkinws and it failed and showed me this following error :

$ catkin_make -j4 -DCMAKE_BUILD_TYPE=Release
Base path: /home/vaggelisxirotiris/catkin_ws
Source space: /home/vaggelisxirotiris/catkin_ws/src
Build space: /home/vaggelisxirotiris/catkin_ws/build
Devel space: /home/vaggelisxirotiris/catkin_ws/devel
Install space: /home/vaggelisxirotiris/catkin_ws/install
####
#### Running command: "cmake /home/vaggelisxirotiris/catkin_ws/src -DCMAKE_BUILD_TYPE=Release -DCATKIN_DEVEL_PREFIX=/home/vaggelisxirotiris/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/vaggelisxirotiris/catkin_ws/install -G Unix Makefiles" in "/home/vaggelisxirotiris/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/vaggelisxirotiris/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/vaggelisxirotiris/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/vaggelisxirotiris/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/vaggelisxirotiris/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 13 packages in topological order:
-- ~~  - franka_description
-- ~~  - franka_ros (metapackage)
-- ~~  - franka_msgs
-- ~~  - turtlebot3_simulations (metapackage)
-- ~~  - franka_gripper
-- ~~  - franka_visualization
-- ~~  - turtlebot3_fake
-- ~~  - turtlebot3_gazebo
-- ~~  - my_robot_controller
-- ~~  - franka_hw
-- ~~  - franka_control
-- ~~  - franka_example_controllers
-- ~~  - panda_moveit_config
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'franka_description'
-- ==> add_subdirectory(franka_ros/franka_description)
-- +++ processing catkin metapackage: 'franka_ros'
-- ==> add_subdirectory(franka_ros/franka_ros)
-- +++ processing catkin package: 'franka_msgs'
-- ==> add_subdirectory(franka_ros/franka_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- franka_msgs: 2 messages, 0 services
-- +++ processing catkin metapackage: 'turtlebot3_simulations'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_simulations)
-- +++ processing catkin package: 'franka_gripper'
-- ==> add_subdirectory(franka_ros/franka_gripper)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action franka_gripper/Grasp /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_gripper/action/Grasp.action
-- Generating .msg files for action franka_gripper/Homing /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_gripper/action/Homing.action
-- Generating .msg files for action franka_gripper/Stop /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_gripper/action/Stop.action
-- Generating .msg files for action franka_gripper/Move /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_gripper/action/Move.action
-- franka_gripper: 29 messages, 0 services
-- +++ processing catkin package: 'franka_visualization'
-- ==> add_subdirectory(franka_ros/franka_visualization)
-- +++ processing catkin package: 'turtlebot3_fake'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_fake)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'turtlebot3_gazebo'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_gazebo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found DART: /usr/include (Required is at least version "6.6") found components: dart 
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-pthread (found version "3.6.1") 
-- Looking for ignition-math6 -- found version 6.13.0
-- Searching for dependencies of ignition-math6
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- 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 6.13.0
-- Looking for ignition-transport8 -- found version 8.3.0
-- Searching for dependencies of ignition-transport8
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-pthread (found suitable version "3.6.1", minimum required is "3") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.2
-- Checking for module 'uuid'
--   Found uuid, version 2.34.0
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Searching for dependencies of ignition-msgs5
-- Looking for ignition-math6 -- found version 6.13.0
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 6.2.0
-- Looking for ignition-msgs5 -- found version 5.10.0
-- Looking for ignition-common3 -- found version 3.14.2
-- 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 3.14.2
-- Searching for dependencies of ignition-common3-graphics
-- Looking for ignition-math6 -- found version 6.13.0
-- Looking for ignition-fuel_tools4 -- found version 4.6.0
-- 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 3.14.2
-- Looking for ignition-math6 -- found version 6.13.0
-- Looking for ignition-msgs5 -- found version 5.10.0
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
  'gazebo_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt:40 (catkin_package)


-- +++ processing catkin package: 'my_robot_controller'
-- ==> add_subdirectory(my_robot_controller)
-- +++ processing catkin package: 'franka_hw'
-- ==> add_subdirectory(franka_ros/franka_hw)
-- +++ processing catkin package: 'franka_control'
-- ==> add_subdirectory(franka_ros/franka_control)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action franka_control/ErrorRecovery /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/action/ErrorRecovery.action
-- franka_control: 7 messages, 7 services
-- +++ processing catkin package: 'franka_example_controllers'
-- ==> add_subdirectory(franka_ros/franka_example_controllers)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- franka_example_controllers: 1 messages, 0 services
-- Installing devel-space wrapper /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_example_controllers/scripts/interactive_marker.py to /home/vaggelisxirotiris/catkin_ws/devel/lib/franka_example_controllers
-- Installing devel-space wrapper /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_example_controllers/scripts/move_to_start.py to /home/vaggelisxirotiris/catkin_ws/devel/lib/franka_example_controllers
-- +++ processing catkin package: 'panda_moveit_config'
-- ==> add_subdirectory(panda_moveit_config)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vaggelisxirotiris/catkin_ws/build
####
#### Running command: "make -j4" in "/home/vaggelisxirotiris/catkin_ws/build"
####
[  0%] Built target std_msgs_generate_messages_py
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[ 21%] Building CXX object franka_ros/franka_hw/CMakeFiles/franka_hw.dir/src/control_mode.cpp.o
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[ 21%] Built target _franka_control_generate_messages_check_deps_ErrorRecoveryActionGoal
[ 22%] Building CXX object franka_ros/franka_hw/CMakeFiles/franka_hw.dir/src/resource_helpers.cpp.o
[ 22%] Built target _franka_control_generate_messages_check_deps_SetJointImpedance
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[ 22%] Building CXX object franka_ros/franka_hw/CMakeFiles/franka_hw.dir/src/trigger_rate.cpp.o
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/home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_hw/src/franka_hw.cpp: In function ‘std::ostream& franka_hw::{anonymous}::operator<<(std::ostream&, franka::ControllerMode)’:
/home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_hw/src/franka_hw.cpp:25:1: warning: no return statement in function returning non-void [-Wreturn-type]
   25 | }
      | ^
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[ 82%] Linking CXX executable /home/vaggelisxirotiris/catkin_ws/devel/lib/franka_visualization/gripper_joint_state_publisher
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[ 82%] Linking CXX executable /home/vaggelisxirotiris/catkin_ws/devel/lib/franka_visualization/robot_joint_state_publisher
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[ 89%] Linking CXX shared library /home/vaggelisxirotiris/catkin_ws/devel/lib/libfranka_hw.so
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[ 90%] Linking CXX executable /home/vaggelisxirotiris/catkin_ws/devel/lib/turtlebot3_fake/turtlebot3_fake_node
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[ 97%] Building CXX object franka_ros/franka_gripper/CMakeFiles/franka_gripper_node.dir/src/franka_gripper_node.cpp.o
/home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/src/franka_control_node.cpp: In function ‘int main(int, char**)’:
/home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/src/franka_control_node.cpp:163:83: error: no matching function for call to ‘franka_hw::FrankaHW::FrankaHW(std::array<std::__cxx11::basic_string<char>, 7>&, std::string&, urdf::Model&, franka::Model&, main(int, char**)::<lambda()>&, main(int, char**)::<lambda()>&, main(int, char**)::<lambda()>&)’
  163 |                 get_cutoff_frequency, get_internal_controller);
      |                                                              ^

In file included from /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/src/franka_control_node.cpp:13:
/opt/ros/noetic/include/franka_hw/franka_hw.h:44:3: note: candidate: ‘franka_hw::FrankaHW::FrankaHW()’
   44 |   FrankaHW();
      |   ^~~~~~~~
/opt/ros/noetic/include/franka_hw/franka_hw.h:44:3: note:   candidate expects 0 arguments, 7 provided
/home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/src/franka_control_node.cpp:204:8: error: no matching function for call to ‘franka_hw::FrankaHW::control(franka::Robot&, main(int, char**)::<lambda(const ros::Time&, const ros::Duration&)>)’
  204 |       });
      |        ^
In file included from /home/vaggelisxirotiris/catkin_ws/src/franka_ros/franka_control/src/franka_control_node.cpp:13:
/opt/ros/noetic/include/franka_hw/franka_hw.h:123:16: note: candidate: ‘virtual void franka_hw::FrankaHW::control(const std::function<bool(const ros::Time&, const ros::Duration&)>&)’
  123 |   virtual void control(
      |                ^~~~~~~
/opt/ros/noetic/include/franka_hw/franka_hw.h:123:16: note:   candidate expects 1 argument, 2 provided
make[2]: *** [franka_ros/franka_control/CMakeFiles/franka_control_node.dir/build.make:63: franka_ros/franka_control/CMakeFiles/franka_control_node.dir/src/franka_control_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:5616: franka_ros/franka_control/CMakeFiles/franka_control_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 97%] Linking CXX shared library /home/vaggelisxirotiris/catkin_ws/devel/lib/libfranka_state_controller.so
[ 97%] Built target franka_state_controller
[ 98%] Linking CXX executable /home/vaggelisxirotiris/catkin_ws/devel/lib/franka_gripper/franka_gripper_node
[ 98%] Built target franka_gripper_node
make: *** [Makefile:141: all] Error 2
Invoking "make -j4" failed