stderr: nvblox FindDoxygen not find

Environment: Orin agx, L4T:35.4.1, Jetpack:5.1.2, python 3.8.10, ubuntu 20.04

in a docker, which build by command:
cd ${ISAAC_ROS_WS}/src/isaac_ros_common &&
./scripts/run_dev.sh ${ISAAC_ROS_WS}

error after command in the docker:

cd /workspaces/isaac_ros-dev &&
colcon build --symlink-install &&
source install/setup.bash

admin@ubuntu:/workspaces/isaac_ros-dev$ cd /workspaces/isaac_ros-dev && colcon build --symlink-install && source install/setup.bash
Starting >>> isaac_ros_common
Starting >>> isaac_ros_test
Starting >>> nvblox_msgs
Starting >>> nvblox_ros_common
Starting >>> nvblox
Starting >>> nvblox_cpu_gpu_tools
Starting >>> nvblox_performance_measurement_msgs
Starting >>> network_performance_measurement
Starting >>> nvblox_examples_bringup
Starting >>> nvblox_isaac_sim
Starting >>> odometry_flattener
--- stderr: nvblox
CMake Warning at /usr/share/cmake-3.22/Modules/FindDoxygen.cmake:460 (message):
Unable to determine doxygen version: No such file or directory
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FindDoxygen.cmake:623 (_Doxygen_find_doxygen)
/workspaces/isaac_ros-dev/build/nvblox/_deps/ext_stdgpu-src/doc/CMakeLists.txt:7 (find_package)

CMake Error at /usr/share/cmake-3.22/Modules/FindDoxygen.cmake:702 (message):
Unable to generate Doxyfile template: No such file or directory
Call Stack (most recent call first):
/workspaces/isaac_ros-dev/build/nvblox/_deps/ext_stdgpu-src/doc/CMakeLists.txt:7 (find_package)

make: *** [Makefile:2433: cmake_check_build_system] Error 1

Failed <<< nvblox [2.77s, exited with code 2]
Aborted <<< isaac_ros_test [3.05s]
Aborted <<< nvblox_cpu_gpu_tools [2.71s]
Aborted <<< nvblox_isaac_sim [2.42s]
Aborted <<< nvblox_examples_bringup [2.48s]
Aborted <<< isaac_ros_common [3.12s]
Aborted <<< network_performance_measurement [3.77s]
Aborted <<< nvblox_msgs [5.59s]
Aborted <<< odometry_flattener [6.76s]
Aborted <<< nvblox_performance_measurement_msgs [8.53s]
Aborted <<< nvblox_ros_common [8.96s]