make -j<number of cores> -l<number of cores> [optional target, e.g. install]

edit

How to write above command? Please help me witn that. I got below error for $ make -j2 -l5 install

Install the project...
-- Install configuration: ""
-- Installing: /home/test/install/_setup_util.py
CMake Error at cmake_install.cmake:54 (file):
  file INSTALL cannot copy file
  "/home/test/build/catkin_generated/installspace/_setup_util.py" to
  "/home/test/install/_setup_util.py".

Makefile:61: recipe for target 'install' failed
make: *** [install] Error 1