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It turns out I was missing dependencies because of the wrong cmake version. These commands found the missing dependencies:
cd ~/ros2_ws
rosdep install --ignore-src --from-paths src/
And then to fix my cmake installation I followed the instructions here: https://apt.kitware.com/
sudo apt-get update
sudo apt-get install apt-transport-https ca-certificates gnupg software-properties-common wget
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
sudo apt-get update
sudo apt-get install cmake
After installing the missing dependencies I was able to build all the packages.