kafka.common.KafkaException: No `meta.properties` found in /var/lib/kafka (have you run `kafka-storage.sh` to format the directory?)

我使用kafka 3.0.0的KRaft模式，安装kafka集群，报：

kafka.common.KafkaException: No meta.properties found in /var/lib/kafka (have you run kafka-storage.sh to format the directory?)

错误详情：

[2021-09-28 10:59:15,461] INFO Registered kafka:type=kafka.Log4jController MBean (kafka.utils.Log4jControllerRegistration$)
[2021-09-28 10:59:15,953] INFO Setting -D jdk.tls.rejectClientInitiatedRenegotiation=true to disable client-initiated TLS renegotiation (org.apache.zookeeper.common.X509Util)
[2021-09-28 10:59:16,092] WARN No meta.properties file under dir /var/lib/kafka/meta.properties (kafka.server.BrokerMetadataCheckpoint)
[2021-09-28 10:59:16,094] ERROR Exiting Kafka due to fatal exception (kafka.Kafka$)
kafka.common.KafkaException: No `meta.properties` found in /var/lib/kafka (have you run `kafka-storage.sh` to format the directory?)
    at kafka.server.BrokerMetadataCheckpoint$.$anonfun$getBrokerMetadataAndOfflineDirs$2(BrokerMetadataCheckpoint.scala:164)
    at scala.collection.immutable.List.foreach(List.scala:333)
    at kafka.server.BrokerMetadataCheckpoint$.getBrokerMetadataAndOfflineDirs(BrokerMetadataCheckpoint.scala:153)
    at kafka.server.KafkaRaftServer$.initializeLogDirs(KafkaRaftServer.scala:151)
    at kafka.server.KafkaRaftServer.<init>(KafkaRaftServer.scala:53)
    at kafka.Kafka$.buildServer(Kafka.scala:79)
    at kafka.Kafka$.main(Kafka.scala:87)
    at kafka.Kafka.main(Kafka.scala)

我的server.properties配置如下：

listeners=PLAINTEXT://172.21.0.1:9092,PLAINTEXT1://172.21.0.1:9091
advertised.listeners=PLAINTEXT1://172.21.0.1:9091
listener.security.protocol.map=PLAINTEXT1:PLAINTEXT,PLAINTEXT:PLAINTEXT

请问我该如何解决？