diff -Naur ros-humble-cartographer-2.0.9002_org/CMakeLists.txt ros-humble-cartographer-2.0.9002/CMakeLists.txt
--- ros-humble-cartographer-2.0.9002_org/CMakeLists.txt	2022-04-20 08:00:55.000000000 +0800
+++ ros-humble-cartographer-2.0.9002/CMakeLists.txt	2023-10-25 10:04:53.000000000 +0800
@@ -30,6 +30,7 @@
 google_enable_testing()
 
 find_package(absl REQUIRED)
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
 set(BOOST_COMPONENTS iostreams)
 if(WIN32)
   list(APPEND BOOST_COMPONENTS zlib)