I'm trying to set up micro-ROS on Ubuntu 20.04 using this [website](https://micro.ros.org/docs/tutorials/core/first_application_rtos/freertos/), and connect ESP32 to ROS 2. However, when executing the command `ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32`, I get the following error:

    ERROR: the following packages/stacks could not have their rosdep keys resolved
    to system dependencies:
    rclc_parameter: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    rmw: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    rmw_implementation: Cannot locate rosdep definition for [rcpputils]
    rosidl_typesupport_c: Cannot locate rosdep definition for [mimick_vendor]
    rosidl_default_runtime: Cannot locate rosdep definition for [rosidl_typesupport_introspection_cpp]
    rcl_logging_noop: Cannot locate rosdep definition for [launch_testing]
    rosidl_typesupport_microxrcedds_c_tests: Cannot locate rosdep definition for [rosidl_typesupport_introspection_c]
    tracetools_launch: Cannot locate rosdep definition for [launch_ros]
    rcutils: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    rcl_action: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    libyaml_vendor: Cannot locate rosdep definition for [rcpputils]
    rcl_lifecycle: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    tracetools_test: Cannot locate rosdep definition for [launch_ros]
    test_rmw_implementation: Cannot locate rosdep definition for [rmw_dds_common]
    rclc_lifecycle: Cannot locate rosdep definition for [osrf_testing_tools_cpp]
    rosidl_typesupport_cpp: Cannot locate rosdep definition for [rcpputils]
    rcl: Cannot locate rosdep definition for [rcpputils]
    ros2trace: Cannot locate rosdep definition for [ros2cli]
    rclc: Cannot locate rosdep definition for [osrf_testing_tools_cpp]

Is there any solution?

Incidentally, I implemented the following solution suggested by ChatGPT, but it didn't improve the situation.

 - Update ROS 2 dependencies. `rosdep update`
 - Install System Packages, which ROS2 packages or stacks depend on. `rosdep install --from-paths /path/to/your/ros2/workspace --ignore-src --rosdistro <your_ros_distro>`
 - Rebuild the ROS 2 workspace. `colcon build`