could not find ruby, failed to process package orgen

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This is my error:

CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find Ruby (missing: RUBY_INCLUDE_DIR RUBY_LIBRARY
  RUBY_CONFIG_INCLUDE_DIR) (found version "2.3.0")
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.5/Modules/FindRuby.cmake:273 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/robot/ws/underlay_isolated/build_isolated/orogen/install/CMakeFiles/CMakeOutput.log".

<== Failed to process package 'orogen': 
  Command '['/home/robot/ws/underlay_isolated/install_isolated/env.sh', 'cmake', '/home/robot/ws/underlay_isolated/src/orocos/orocos_toolchain/orogen', '-DCMAKE_INSTALL_PREFIX=/home/robot/ws/underlay_isolated/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/robot/ws/underlay_isolated/build_isolated/orogen && /home/robot/ws/underlay_isolated/install_isolated/env.sh cmake /home/robot/ws/underlay_isolated/src/orocos/orocos_toolchain/orogen -DCMAKE_INSTALL_PREFIX=/home/robot/ws/underlay_isolated/install_isolated -G 'Unix Makefiles'

Command failed, exiting.

when i am trying to build orocos toolchain from source as in this link. I am using ubuntu 16.06 with ros kinetic. Before this i have used orocoes with ros indigo . But now i am unable to install it in ros kinetic. So what should i do?