drake-franka-driver not building

[fida-121]

Hello, I am new to drake and franka. I was foolowing readme file to install franka driver but when i run ./setup.sh command I get this error.
####### make will use 8 jobs to build target: all #######
update libfranka and build if not done yet...
~/drake/drake-franka-driver ~/drake/drake-franka-driver
~/drake/drake-franka-driver/externals/libfranka ~/drake/drake-franka-driver ~/drake/drake-franka-driver
build libfranka...
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

CMake Error at /usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
Could NOT find Poco (missing: Poco_INCLUDE_DIR Poco_LIBRARIES Net
Foundation)
Call Stack (most recent call first):
/usr/share/cmake-3.28/Modules/FindPackageHandleStandardArgs.cmake:600 (_FPHSA_FAILURE_MESSAGE)
cmake/FindPoco.cmake:27 (find_package_handle_standard_args)
CMakeLists.txt:23 (find_package)

-- Configuring incomplete, errors occurred!
Can someone guide me where i am making a mistake or what is the issue here.
Thanks!