catkin_make 编译报错 "undefined reference to symbol 'pthread_rwlockattr_init@@GLIBC_2.2.5' libpthread.so: error adding symbols: DSO missing from command line"

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报错具体如图所示

按照下图所示，修改 CMakeList.txt 文件内容

add_executable(sensor_simulator src/test_simulator.cpp src/sensor_simulator.cpp)
target_link_libraries(sensor_simulator ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} OpenMP::OpenMP_CXX yaml-cpp)
target_compile_definitions(sensor_simulator PRIVATE CONFIG_FILE_PATH="${CMAKE_SOURCE_DIR}/config/config.yaml")


cuda_add_library(raycast_cuda src/sensor_simulator.cu)
## target_link_libraries(raycast_cuda ${CUDA_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(raycast_cuda ${CUDA_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} -lpthread)

add_executable(sensor_simulator_cuda src/test_simulator_cuda.cpp src/maps.cpp src/perlinnoise.cpp)
target_link_libraries(sensor_simulator_cuda ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} raycast_cuda yaml-cpp )
target_compile_definitions(sensor_simulator_cuda PRIVATE CONFIG_FILE_PATH="${CMAKE_SOURCE_DIR}/config/config.yaml")

find_package(Threads REQUIRED)
add_executable(dataset_generator src/dataset_generator.cpp src/maps.cpp src/perlinnoise.cpp)
target_link_libraries(dataset_generator ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} raycast_cuda yaml-cpp -lpthread)
target_compile_definitions(dataset_generator PRIVATE CONFIG_FILE_PATH="${CMAKE_SOURCE_DIR}/config/config.yaml")

修改完成后重新执行 catkin_make