If you are using the QuickStart VM please read this note that comes along https://www.cloudera.com/documentation/enterprise/latest/topics/cloudera_quickstart_vm.html:

"""
The VM uses a package-based install. This allows you to work with or without Cloudera Manager. Parcels do not work with the VM unless you first migrate your CDH installation to use parcels. On your production systems, Cloudera recommends that you use parcels.
"""

In order to use a Kafka parcel, the CDH installation must first exist as a parcel by itself. The error you face is telling you that no CDH parcel was detected, which likely means your current CDH is package-based.

Follow this guide to migrate from packages to parcels first for your CDH cluster software: https://www.cloudera.com/documentation/enterprise/latest/topics/cm_ig_migrating_packages_to_parcels...., and then you should be able to use your Kafka parcel.