Encountered an error while executing 'catkin build' in orb_slam3_ros_wrapper

[ZhangZhangZhangzzz]

Hello author, I encountered an error while executing the catkin build. The error is as follows：

This is the overall result. Below, I will take some screenshots of the main error messages, as follows:

1. /usr/local/include/sophus/types.hpp:237:8: error: redefinition of default argument for ‘class’ 237 | struct IsFixedSizeVector : std::true_type {}; | ^~~~~~~~~~~~~~~~~

2./usr/local/include/sophus/rotation_matrix.hpp:16:18: error: redefinition of ‘template<class D> bool Sophus::isOrthogonal(const Eigen::MatrixBase<Derived>&)’ 16 | SOPHUS_FUNC bool isOrthogonal(Eigen::MatrixBase<D> const& R) { |

3.usr/local/include/sophus/rotation_matrix.hpp:32:18: error: redefinition of ‘template<class D> bool Sophus::isScaledOrthogonalAndPositive(const Eigen::MatrixBase<Derived>&)’ 32 | SOPHUS_FUNC bool isScaledOrthogonalAndPositive(Eigen::MatrixBase<D> const& sR) { | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~

4./usr/local/include/sophus/rotation_matrix.hpp:61:1: error: redefinition of ‘template<class D> Sophus::enable_if_t<std::is_floating_point<typename D::Scalar>::value, Eigen::Matrix<typename D::Scalar, D::RowsAtCompileTime, D::RowsAtCompileTime, (Eigen::AutoAlign | (((D::RowsAtCompileTime == 1) && (D::RowsAtCompileTime != 1)) ? Eigen::RowMajor : (((D::RowsAtCompileTime == 1) && (D::RowsAtCompileTime != 1)) ? Eigen::ColMajor : Eigen::ColMajor))), D::RowsAtCompileTime, D::RowsAtCompileTime> > Sophus::makeRotationMatrix(const Eigen::MatrixBase<Derived>&)’ 61 | makeRotationMatrix(Eigen::MatrixBase<D> const& R) { | ^~~~~~~~~~~~~~~~~~

5./usr/local/include/sophus/so2.hpp:17:7: error: redefinition of default argument for ‘int Options’ 17 | class SO2;

6./usr/local/include/sophus/so2.hpp:26:8: error: redefinition of ‘struct Eigen::internal::traits<Sophus::SO2<Scalar_, Options_> >’ 26 | struct traits<Sophus::SO2<Scalar_, Options_>> { | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The above are some specific error messages that I have selected, but I have not finished selecting them yet. I personally think that there was an error in a certain step, but I don't know which step it was. I have already completed the compilation of ORB-SLAM3 before, and libORB-SLAM3.so also appeared. Just as I was continuing to work, this situation occurred. I would greatly appreciate it if you could see it