Px4 build error in gazebo - Boost_INCLUDE_DIR

I’m getting this error while building px4 in gazebo simulator
When i execute $ gazebo , then gazebo opens just fine

$ make px4_sitl gazebo
[0/7] Performing configure step for ‘sitl_gazebo’
– install-prefix: /usr/local
– cmake build type: RelWithDebInfo
– Using C++17 standard
– ccache enabled (export CCACHE_DISABLE=1 to disable)
– Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version “1.71.0”, minimum required is “1.58”) found components: system thread filesystem
– Found DART: /usr/include (Required is at least version “6.6”) found components: dart
– Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version “1.71.0”, minimum required is “1.40.0”) found components: thread system filesystem program_options regex iostreams date_time
– Looking for ignition-math6 – found version 6.8.0
– Searching for dependencies of ignition-math6
– Looking for OGRE…
– Found Ogre Ghadamon (1.9.0)
– Looking for OGRE_Paging…
– Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
– Looking for OGRE_Terrain…
– Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
– Looking for OGRE_Property…
– Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
– Looking for OGRE_RTShaderSystem…
– Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
– Looking for OGRE_Volume…
– Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
– Looking for OGRE_Overlay…
– Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
– Looking for ignition-math6 – found version 6.8.0
– Looking for ignition-transport8 – found version 8.2.0
– Searching for dependencies of ignition-transport8
– Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version “3.6.1”, minimum required is “3”)
– Config-file not installed for ZeroMQ – checking for pkg-config
– Checking for module ‘libzmq >= 4’
– Found libzmq , version 4.3.2
– Checking for module ‘uuid’
– Found uuid, version 2.34.0
– Looking for ignition-msgs5 – found version 5.8.0
– Searching for dependencies of ignition-msgs5
– Looking for ignition-math6 – found version 6.8.0
– Checking for module ‘tinyxml2’
– Found tinyxml2, version 6.2.0
– Looking for ignition-msgs5 – found version 5.8.0
– Looking for ignition-common3 – found version 3.13.2
– Searching for dependencies of ignition-common3
– Looking for dlfcn.h - found
– Looking for libdl - found
– Searching for component [graphics]
– Looking for ignition-common3-graphics – found version 3.13.2
– Searching for dependencies of ignition-common3-graphics
– Looking for ignition-math6 – found version 6.8.0
– Looking for ignition-fuel_tools4 – found version 4.4.0
– Searching for dependencies of ignition-fuel_tools4
– Checking for module ‘jsoncpp’
– Found jsoncpp, version 1.7.4
– Checking for module ‘yaml-0.1’
– Found yaml-0.1, version 0.2.2
– Checking for module ‘libzip’
– Found libzip, version 1.5.1
– Looking for ignition-common3 – found version 3.13.2
– Looking for ignition-math6 – found version 6.8.0
– Looking for ignition-msgs5 – found version 5.8.0
– Building klt_feature_tracker without catkin
– Building OpticalFlow with OpenCV
– catkin DISABLED
– Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version “3.6.1”)
– Gazebo version: 11.8
– Found GStreamer: adding gst_camera_plugin
– Found GStreamer: adding gst_video_stream_widget
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
Boost_INCLUDE_DIR
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests
used as include directory in directory /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo/unit_tests

– Configuring incomplete, errors occurred!
See also “/home/rishabh/PX4-Autopilot/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeOutput.log”.
See also “/home/rishabh/PX4-Autopilot/build/px4_sitl_default/build_gazebo/CMakeFiles/CMakeError.log”.
[1/7] Linking CXX executable bin/px4
FAILED: external/Stamp/sitl_gazebo/sitl_gazebo-configure
cd /home/rishabh/PX4-Autopilot/build/px4_sitl_default/build_gazebo && /usr/bin/cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON -GNinja /home/rishabh/PX4-Autopilot/Tools/sitl_gazebo && /usr/bin/cmake -E touch /home/rishabh/PX4-Autopilot/build/px4_sitl_default/external/Stamp/sitl_gazebo/sitl_gazebo-configure
[3/7] Linking CXX executable bin/px4
ninja: build stopped: subcommand failed.
make: *** [Makefile:230: px4_sitl] Error 1

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