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To add to the answer by @tfoote: you need to make sure you have installed all dependencies before trying to build packages from source.

In most cases a rosdep check --from-paths /path/to/your/workspace/src --ignore-src --rosdistro=$DISTRO should tell you whether anything is missing. You can then either install the missing dependencies by hand, or run rosdep install .. with the same arguments to have rosdep install everything for you.