-- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake)
-- Configuring incomplete, errors occurred!
See also "/home/firmament/codes/24navigation/build/rm_urdf_ff/CMakeFiles/CMakeOutput.log".
Error parsing '/home/firmament/codes/24navigation/src/rm_urdf_ff/package.xml':
Traceback (most recent call last):
  File "/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 150, in <module>
    main()
  File "/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 53, in main
    raise e
  File "/opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 49, in main
    package = parse_package_string(
  File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 639, in parse_package_string
    pkg.description = _get_node_value(_get_node(root, 'description', filename), allow_xml=True, apply_str=False)
  File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 800, in _get_node
    raise InvalidPackage('The manifest must contain exactly one "%s" tag' % tagname, filename)
catkin_pkg.package.InvalidPackage: Error(s) in package '/home/firmament/codes/24navigation/src/rm_urdf_ff/package.xml':
The manifest must contain exactly one "description" tag
CMake Error at /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:95 (message):
  execute_process(/usr/bin/python3.10
  /opt/ros/humble/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  /home/firmament/codes/24navigation/src/rm_urdf_ff/package.xml
  /home/firmament/codes/24navigation/build/rm_urdf_ff/ament_cmake_core/package.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake:42 (ament_package_xml)
  CMakeLists.txt:7 (ament_auto_find_build_dependencies)