ros2 orbslam3 build error

SciMaker

BackGround: 在Xavier上编译ros2的orbslam包出现错误
system：Ubuntu 20.04+ros galactic
error:

/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/mono.dir/build.make:253: mono] Error 1
make[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/mono.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/stereo.dir/build.make:254: stereo] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/stereo.dir/all] Error 2
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rgbd.dir/build.make:254: rgbd] Error 1
make[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/rgbd.dir/all] Error 2
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::RandomInt(int, int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DUtils::Random::SeedRandOnce(int)'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::L'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/stereo-inertial.dir/build.make:253: stereo-inertial] Error 1
make[1]: *** [CMakeFiles/Makefile2:84: CMakeFiles/stereo-inertial.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< orbslam3 [6.54s, exited with code 2]

Summary: 1 package finished [10.4s]
  1 package failed: orbslam3
  1 package had stderr output: orbslam3

我的CMakeLists.txt:

cmake_minimum_required(VERSION 3.5)
project(orbslam3)

# You should set the PYTHONPATH to your own python site-packages path
# set(ENV{PYTHONPATH} "/opt/ros/foxy/lib/python3.8/site-packages/")

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge_orbslam3 REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(ORB_SLAM3 REQUIRED)
find_package(DBoW2 REQUIRED)



include_directories(
  include
  ${ORB_SLAM3_ROOT_DIR}/include
  ${ORB_SLAM3_ROOT_DIR}/include/CameraModels
  ${OpenCV_INCLUDE_DIRS}
)

link_directories(
  include
)

# add_library(libdbo2w SHARED
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/BowVector.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/FORB.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.cpp
# /home/turtlebot/origin_slam/ORB_SLAM3/Thirdparty/DBoW2/DUtils/Random.cpp
# )


add_executable(mono
  src/monocular/mono.cpp
  src/monocular/monocular-slam-node.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs cv_bridge_orbslam3 ORB_SLAM3 Pangolin) 
target_link_libraries(mono DBoW2)


add_executable(rgbd
  src/rgbd/rgbd.cpp
  src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge_orbslam3 message_filters ORB_SLAM3 Pangolin)
target_link_libraries(rgbd DBoW2)

add_executable(stereo
  src/stereo/stereo.cpp
  src/stereo/stereo-slam-node.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs cv_bridge_orbslam3 message_filters ORB_SLAM3 Pangolin)
target_link_libraries(stereo DBoW2)

add_executable(stereo-inertial
  src/stereo-inertial/stereo-inertial.cpp
  src/stereo-inertial/stereo-inertial-node.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs cv_bridge_orbslam3 ORB_SLAM3 Pangolin)
target_link_libraries(stereo-inertial DBoW2)

install(TARGETS mono rgbd stereo stereo-inertial
  DESTINATION lib/${PROJECT_NAME})

# Install launch files.
#install(DIRECTORY launch config vocabulary
#  DESTINATION share/${PROJECT_NAME}/)

ament_package()

麻烦各位大佬了