Problem in Building Firmware for ARK RTK GPS

Hello everyone. I am building PX4 software from the source code and have got stuck in a very basic step. After we clone the source code into the PX4 toolchain, we have to set the build target as per our requirement. I was able to do the first build with gazebo simulator, by running the make px4_sitlgz_x500 command on my ubuntu linux, but when running the make ark_can-rtk-gps_default command for the ARK RTK GPS target, it shows error 127 with cmake: not found. Could anyone guide me where I am making a mistake or what am I supposed to do to resolve this? It also shows ‘No rule to make target’ too.
@AlexKlimaj