What poem does "classmates call friends, and fellow travelers call friends" come from?

Selected from Zheng Xuan's annotation "Li Zhou Di Guan Da Situ", those who learn from the same way are called "friends" and those who are like-minded are called "friends", that is, the ancients said "the same way is like friends, comrades are like friends"

Mr. Wang Li's "Ancient Chinese" also used this sentence: "There are friends in ancient times, but today is different. Classmates (teachers) are friends and comrades are friends. " Take the word "friend" as an example. The ancients valued "different ways, no common cause, no common goal" and hoped that like-minded people would discuss the problem together. There is a poem in The Book of Songs Xiaoya Logging, which means that people need like-minded people to promote each other.

There is a similar saying in the Book of Rites: "He who studies alone without friends is ignorant." Obviously, "friends" here all refer to "like-minded people" and can't be replaced by "friends". Like-minded friends can easily vote for the same teacher and become friends, while friends of the same teacher may be influenced by their own teachers and become like-minded friends, so it is difficult to distinguish between friends and friends in the future, thus forming a stable structure like friends.