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Hi,
The tutorial that you're having problems with has a tag that it's compatible with CRAM v0.6.0 and the current default version is v0.7.0, so that tutorial is outdated. We don't maintain the tutorials in the "advanced" category, as they're for the experienced users and often about packages that are not a default part of CRAM.
Looks like you're missing dependencies. I think this error means that map_server and json_prolog are not installed. I cannot help you with installing KnowRob unfortunately, but map_server is easy:
$ sudo apt install ros-melodic-map-server
Json_prolog, which is a part of KnowRob, is not installed on the CRAM VM, as the default dependency on KnowRob has been removed a while ago. The newest version of KnowRob might use a different name for json_prolog now that I think of it. You can send an email to hawkin at uni-bremen dot de, she knows KnowRob better than I do, especially the newest version. I can only help with CRAM-specific issues.
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