Hi kisu.choi@motov.co.kr,
Which BSP version are you using?
Have you installed all the required packages for the Ubuntu host?
https://www.yoctoproject.org/docs/latest/ref-manual/ref-manual.html#ubuntu-packages
I have built the Yocto Rocko (BSP Version 4.9.88) successfully with the below command.
Let us know if you still facing any error.
Regards,
Shivani