问题一：

CMake Error at CMakeLists.txt:129 (find_package):
By not providing “Findnmea_msgs.cmake” in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
“nmea_msgs”, but CMake did not find one.

Could not find a package configuration file provided by “nmea_msgs” with
any of the following names:

nmea_msgsConfig.cmake
nmea_msgs-config.cmake

Add the installation prefix of “nmea_msgs” to CMAKE_PREFIX_PATH or set
“nmea_msgs_DIR” to a directory containing one of the above files. If
“nmea_msgs” provides a separate development package or SDK, be sure it has
been installed.

解决办法：
sudo apt-get install ros-foxy-nmea-msgs

同理：
sudo apt-get install ros-foxy-geographic-msgs
sudo apt install ros-foxy-diagnostic-updater
sudo apt install ros-foxy-robot-locization

问题二：

FileNotFoundError: [Errno 2] No such file or directory: ‘xacro’

原因是缺少xacro的依赖，安装一下即可：

sudo apt install ros-foxy-xacro