May I ask why you are trying to build pyrosm from source? There’s likely an existing compiled distribution for your platform already, and can be installed with
pip install pyrosm
The problem you’re having is that you are missing some required build dependencies. These are found in the build-system.requires key of the pyproject.toml file. Using a package installer (eg pip) will handle all of this automatically. For example, instead of running python3 setup.py install, try running pip install .