kafka.zookeeper.ZooKeeperClientTimeoutException: Timed out waiting for connection while in state: CONNECTING

sbt.ForkMain$ForkError: kafka.zookeeper.ZooKeeperClientTimeoutException: Timed out waiting for connection while in state: CONNECTING
	at kafka.zookeeper.ZooKeeperClient$$anonfun$kafka$zookeeper$ZooKeeperClient$$waitUntilConnected$1.apply$mcV$sp(ZooKeeperClient.scala:230)
	at kafka.zookeeper.ZooKeeperClient$$anonfun$kafka$zookeeper$ZooKeeperClient$$waitUntilConnected$1.apply(ZooKeeperClient.scala:226)
	at kafka.zookeeper.ZooKeeperClient$$anonfun$kafka$zookeeper$ZooKeeperClient$$waitUntilConnected$1.apply(ZooKeeperClient.scala:226)
	at kafka.utils.CoreUtils$.inLock(CoreUtils.scala:251)
	at kafka.zookeeper.ZooKeeperClient.kafka$zookeeper$ZooKeeperClient$$waitUntilConnected(ZooKeeperClient.scala:226)
	at kafka.zookeeper.ZooKeeperClient.<init>(ZooKeeperClient.scala:95)
	at kafka.zk.KafkaZkClient$.apply(KafkaZkClient.scala:1580)
	at kafka.server.KafkaServer.kafka$server$KafkaServer$$createZkClient$1(KafkaServer.scala:348)
	at kafka.server.KafkaServer.initZkClient(KafkaServer.scala:372)
	at kafka.server.KafkaServer.startup(KafkaServer.scala:202)
	at org.apache.spark.sql.kafka010.KafkaTestUtils$$anonfun$setupEmbeddedKafkaServer$2.apply(KafkaTestUtils.scala:119)
	at org.apache.spark.sql.kafka010.KafkaTestUtils$$anonfun$setupEmbeddedKafkaServer$2.apply(KafkaTestUtils.scala:115)
	at org.apache.spark.util.Utils$$anonfun$startServiceOnPort$1.apply$mcVI$sp(Utils.scala:2217)
	at scala.collection.immutable.Range.foreach$mVc$sp(Range.scala:160)
	at org.apache.spark.util.Utils$.startServiceOnPort(Utils.scala:2209)
	at org.apache.spark.sql.kafka010.KafkaTestUtils.setupEmbeddedKafkaServer(KafkaTestUtils.scala:115)
	at org.apache.spark.sql.kafka010.KafkaTestUtils.setup(KafkaTestUtils.scala:133)
	at org.apache.spark.sql.kafka010.KafkaSourceTest.beforeAll(KafkaMicroBatchSourceSuite.scala:63)
	at org.scalatest.BeforeAndAfterAll$class.liftedTree1$1(BeforeAndAfterAll.scala:212)
	at org.scalatest.BeforeAndAfterAll$class.run(BeforeAndAfterAll.scala:210)
	at org.apache.spark.SparkFunSuite.run(SparkFunSuite.scala:52)
	at org.scalatest.tools.Framework.org$scalatest$tools$Framework$$runSuite(Framework.scala:314)
	at org.scalatest.tools.Framework$ScalaTestTask.execute(Framework.scala:480)
	at sbt.ForkMain$Run$2.call(ForkMain.java:296)
	at sbt.ForkMain$Run$2.call(ForkMain.java:286)
	at java.util.concurrent.FutureTask.run(FutureTask.java:266)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
	at java.lang.Thread.run(Thread.java:745)