Required library XENOMAI NOT FOUND

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tried to build rtt librari of orocos toolchain individually by typing cmake .. and got below errror:

Orocos RTT version 2.9.0
No orocos-rtt.cmake file loaded, using default settings.See orocos-rtt.default.cmake
Detected OROCOS_TARGET environment variable. Using: xenomai
-- CMAKE_VERSION: 3.5.1
-- Found Boost Uuid in /usr/include.
-- Orocos target is xenomai
XENOMAI_INCLUDE_DIR=XENOMAI_INCLUDE_DIR-NOTFOUND
XENOMAI_NATIVE_LIBRARY=XENOMAI_NATIVE_LIBRARY-NOTFOUND
CMake Error at config/LibFindMacros.cmake:74 (message):
  Required library XENOMAI NOT FOUND.

  Install the library (dev version) and try again.  If the library is already
  installed, set the XENOMAI_ROOT_DIR environment variable or use cmake to
  set the missing variables manually.
Call Stack (most recent call first):
  config/FindXenomai.cmake:72 (libfind_process)
  config/check_depend.cmake:164 (find_package)
  CMakeLists.txt:106 (INCLUDE)


-- Configuring incomplete, errors occurred!
See also "/home/robot/orocos-toolchain/build_isolated/rtt/install/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'rtt': 
  Command '['/home/robot/orocos-toolchain/install_isolated/env.sh', 'cmake', '/home/robot/orocos-toolchain/src/orocos_toolchain/rtt', '-DCMAKE_INSTALL_PREFIX=/home/robot/orocos-toolchain/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

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

Command failed, exiting.

FinxXenomai.cmake file is:

################################################################################
#
# CMake script for finding the XENOMAI native skin.
# If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
# libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
# directories, respectively. Otherwise the default CMake search process will be
# used.
#
# This script creates the following variables:
#  XENOMAI_FOUND: Boolean that indicates if the package was found
#  XENOMAI_INCLUDE_DIRS: Paths to the necessary header files
#  XENOMAI_LIBRARIES: Package libraries
#
################################################################################

include(LibFindMacros)

# Get hint from environment variable (if any)
if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
  set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai base directory location (optional, used for nonstandard installation paths)" FORCE)
  mark_as_advanced(XENOMAI_ROOT_DIR)
endif()

if ( Xenomai_FIND_QUIETLY )
  set( XENOMAI_FIND_QUIETLY "QUIET")
endif()

if ( Xenomai_FIND_REQUIRED )
  set( XENOMAI_FIND_REQUIRED "REQUIRED")
endif()

# Header files to find
set(header_NAME    native/task.h)

# Libraries to find
set(XENOMAI_NAME   xenomai)
set(XENOMAI_NATIVE_NAME   native)

# Find headers and libraries
if(XENOMAI_ROOT_DIR)
  # Use location specified by environment variable
  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_ROOT_DIR}/bin NO_DEFAULT_PATH)
  find_path(XENOMAI_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai NO_DEFAULT_PATH)
  find_library(XENOMAI_LIBRARY         NAMES ${XENOMAI_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
  find_library(XENOMAI_NATIVE_LIBRARY         NAMES ${XENOMAI_NATIVE_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
else()
  # Use default CMake search process
  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config )
  find_path(XENOMAI_INCLUDE_DIR       NAMES ${header_NAME} PATH_SUFFIXES xenomai )
  find_library(XENOMAI_LIBRARY        NAMES ${XENOMAI_NAME})
  find_library(XENOMAI_NATIVE_LIBRARY        NAMES ${XENOMAI_NATIVE_NAME})
endif()

if( XENOMAI_LIBRARY AND XENOMAI_INCLUDE_DIR AND NOT XENOMAI_XENO_CONFIG )
  message(SEND_ERROR "Your Xenomai installation is broken: I can not determine Xenomai Native cflags/ldflags without xeno-config.")
else()
  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --ldflags OUTPUT_VARIABLE XENOMAI_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --cflags OUTPUT_VARIABLE XENOMAI_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
endif()


# Set the include dir variables and the libraries and let libfind_process do the rest.
# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
set(XENOMAI_PROCESS_INCLUDES XENOMAI_INCLUDE_DIR)
if ( XENOMAI_LIBRARY )
  set(XENOMAI_PROCESS_LIBS XENOMAI_NATIVE_LIBRARY XENOMAI_LIBRARY )
else( XENOMAI_LIBRARY )
  set(XENOMAI_PROCESS_LIBS XENOMAI_NATIVE_LIBRARY)
endif( XENOMAI_LIBRARY )


libfind_process(XENOMAI)