我在进行carttographer安装时，在编译过程出现这个报错应该怎么解决，系统是Ubuntu20.04 ros是ros2foxy版本。

Lecn Nop

$ git branch -a

foxy
remotes/origin/HEAD -> origin/humble
remotes/origin/feature/base_control
remotes/origin/feture/v1.0.0
remotes/origin/foxy
remotes/origin/humble
remotes/origin/master
remotes/origin/navgation2
remotes/origin/v1.0.0

Lecn Nop

/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1192:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
1192 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1140:31: error: ‘cartographer::mapping::proto::SerializationHeader* cartographer::mapping::proto::SerializationHeader::New() const’ marked ‘final’, but is not virtual
1140 | inline SerializationHeader* New() const final {
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1147:8: error: ‘void cartographer::mapping::proto::SerializationHeader::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
1147 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1155:8: error: ‘bool cartographer::mapping::proto::SerializationHeader::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream)’ marked ‘final’, but is not virtual
1155 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1157:8: error: ‘void cartographer::mapping::proto::SerializationHeader::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream) const’ marked ‘final’, but is not virtual
1157 | void SerializeWithCachedSizes(
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1159:30: error: ‘google::protobuf::uint8* cartographer::mapping::proto::SerializationHeader::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8) const’ marked ‘final’, but is not virtual
1159 | ::google::protobuf::uint8 InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1424:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
1424 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^
| InternalMetadata
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1256:26: error: ‘cartographer::mapping::proto::SerializedData* cartographer::mapping::proto::SerializedData::New() const’ marked ‘final’, but is not virtual
1256 | inline SerializedData* New() const final {
| ^
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1263:8: error: ‘void cartographer::mapping::proto::SerializedData::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
1263 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1271:8: error: ‘bool cartographer::mapping::proto::SerializedData::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream)’ marked ‘final’, but is not virtual
1271 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1273:8: error: ‘void cartographer::mapping::proto::SerializedData::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream) const’ marked ‘final’, but is not virtual
1273 | void SerializeWithCachedSizes(
| ^~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:1275:30: error: ‘google::protobuf::uint8* cartographer::mapping::proto::SerializedData::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8) const’ marked ‘final’, but is not virtual
1275 | ::google::protobuf::uint8 InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h: In member function ‘void cartographer::mapping::proto::LocalSlamResultData::clear_timestamp()’:
/opt/ros/foxy/include/cartographer/mapping/proto/serialization.pb.h:2095:16: error: ‘GOOGLE_LONGLONG’ was not declared in this scope; did you mean ‘GOOGLE_DLOG’?
2095 | timestamp_ = GOOGLE_LONGLONG(0);
| ^
| GOOGLE_DLOG
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:154: CMakeFiles/cartographer_ros.dir/cartographer_ros/tf_bridge.cc.o] Error 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:76: CMakeFiles/cartographer_ros.dir/cartographer_ros/msg_conversion.cc.o] Error 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:141: CMakeFiles/cartographer_ros.dir/cartographer_ros/sensor_bridge.cc.o] Error 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:63: CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o] Error 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:193: CMakeFiles/cartographer_ros.dir/cartographer_ros/submap.cc.o] Error 1
make[2]: * [CMakeFiles/cartographer_ros.dir/build.make:89: CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o] Error 1
make[1]: * [CMakeFiles/Makefile2:104: CMakeFiles/cartographer_ros.dir/all] Error 2
make: * [Makefile:141: all] Error 2

Failed <<< cartographer_ros [22.3s, exited with code 2]
Aborted <<< nav2_bt_navigator [26.0s]
Aborted <<< nav2_costmap_2d [1min 54s]

Summary: 17 packages finished [5min 16s]
1 package failed: cartographer_ros
2 packages aborted: nav2_bt_navigator nav2_costmap_2d
5 packages had stderr output: cartographer_ros cartographer_ros_msgs dwb_msgs nav2_msgs nav_2d_msgs
18 packages not processed

小鱼

@635087094 你系统啥版本？

@小鱼在提问前必看！一定要看！必须看一下！中说：

问题一定要描述清楚，终端打印一定复制粘贴，方便回答者检索和引用（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

Lecn Nop

@小鱼系统是ubuntu20.04，ros的版本是ros2foxy