kafka KRaft模式报：If using process.roles, controller.quorum.voters must contain a parseable set of voters.

我使用kafka 3.0.0的KRaft模式，安装kafka集群，报：

RROR Exiting Kafka due to fatal exception (kafka.Kafka$)
org.apache.kafka.common.config.ConfigException: If using process.roles, controller.quorum.voters must contain a parseable set of voters.

错误详情：

[2021-09-28 07:22:10,044] INFO Registered kafka:type=kafka.Log4jController MBean (kafka.utils.Log4jControllerRegistration$)
[2021-09-28 07:22:10,484] INFO Setting -D jdk.tls.rejectClientInitiatedRenegotiation=true to disable client-initiated TLS renegotiation (org.apache.zookeeper.common.X509Util)
[2021-09-28 07:22:10,530] ERROR Exiting Kafka due to fatal exception (kafka.Kafka$)
org.apache.kafka.common.config.ConfigException: If using process.roles, controller.quorum.voters must contain a parseable set of voters.
    at kafka.server.KafkaConfig.validateValues(KafkaConfig.scala:1920)
    at kafka.server.KafkaConfig.<init>(KafkaConfig.scala:1897)
    at kafka.server.KafkaConfig.<init>(KafkaConfig.scala:1394)
    at kafka.Kafka$.buildServer(Kafka.scala:67)
    at kafka.Kafka$.main(Kafka.scala:87)
    at kafka.Kafka.main(Kafka.scala)

我的server.properties配置如下：

process.roles=broker,controller

请问我该如何解决？