undefined reference to `boost::system::generic_category()'

在学习boost::asio时，第一次使用，编译出现问题：

代码如下：

#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <iostream>

void handle1(const boost::system::error_code &ec)
{
    std::cout << "handle1" << "5 s" << std::endl;
}

void handle2(const boost::system::error_code &ec)
{
    std::cout << "handle2" << "5 s" << std::endl;
}

boost::asio::io_service _io_server_;

void fun()
{
    _io_server_.run();
}

int main(int argc, char *argv[])
{
    boost::asio::deadline_timer time1_(_io_server_,boost::posix_time::seconds(5));
    time1_.async_wait(handle1);
    boost::asio::deadline_timer time2_(_io_server_,boost::posix_time::seconds(5));
    time2_.async_wait(handle2);
    boost::thread thread1_(fun);
    boost::thread thread2_(fun);
    thread1_.join();
    thread2_.join();

    return 0;
}

编译时打印的问题如下：