diff -Naur ros-humble-cartographer-rviz-2.0.9000_org/CMakeLists.txt ros-humble-cartographer-rviz-2.0.9000/CMakeLists.txt
--- ros-humble-cartographer-rviz-2.0.9000_org/CMakeLists.txt	2022-04-20 08:01:35.000000000 +0800
+++ ros-humble-cartographer-rviz-2.0.9000/CMakeLists.txt	2023-10-25 10:48:36.000000000 +0800
@@ -50,6 +50,8 @@
 set(THREADS_PREFER_PTHREAD_FLAG TRUE)
 find_package(Threads REQUIRED)
 
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
+
 set(rviz_plugins_headers_to_moc
   include/cartographer_rviz/drawable_submap.h
   include/cartographer_rviz/ogre_slice.h