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It looks like you are using an outdated version of the code. There are no package in Bouncy that still uses ament_package to parse package.xml files. Now the package parsing is done using catkin_pkg. As a consequence the parse_package_string function has been removed from ament_package

Can you make sure to download the Bouncy version of the code for all repositories?

I recommend doing it in an empty workspace to make sure you don't have any legacy Ardent repositories in your workspace.

You can do so by running:

mkdir -p bouncy_ws/src
wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
vcs import src < ros2.repos