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You need to install the dependencies of the packages you cloned. You can either download the source code for those dependencies into your workspace and build them or if you are on Ubuntu you can install the dependencies from apt-get.

You can try this (on Ubuntu):

$ cd ~/catkin_ws
$ rosdep install --from-paths ./src --ignore-src --rosdistro indigo
$ source /opt/ros/indigo/setup.bash
$ catkin_make

Now obviously you'll want to replace indigo with the ROS distro you are using, but the above should install all the dependencies you need.