diff --git a/CMakeLists.txt b/CMakeLists.txt
index 213770e..7651bc3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+set(ABSL_PATCH_LIBRARIES absl_log_internal_check_op absl_log_internal_message)
 
 find_package(builtin_interfaces REQUIRED)
 find_package(cartographer REQUIRED)
@@ -50,6 +51,8 @@ find_package(urdf REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
+
 include_directories(
   include
   ${PCL_INCLUDE_DIRS}
@@ -103,7 +106,7 @@ set(dependencies
 ament_target_dependencies(${PROJECT_NAME}
   ${dependencies}
   )
-target_link_libraries(${PROJECT_NAME} cartographer ${PCL_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} cartographer ${PCL_LIBRARIES} ${ABSL_PATCH_LIBRARIES})
 
 # Executables
 add_executable(cartographer_node src/node_main.cpp)