Ubuntu下已经安装boost库，未开启MPI，导致cartographer ros 编译报错

        这是因为boost默认编译不开启mpi，运行bootstrap.sh, ./b2之后，打印信息显示zlib等等项的值为no。

        进入./boost_1_73_0/tools/build目录，找到boost-build.jam文件，在这个文件最后一行加上：

using mpi ;

        最终文件内容：

# Copyright 2001, 2002 Dave Abrahams
# Copyright 2002 Rene Rivera
# Copyright 2003 Vladimir Prus
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or http://www.boost.org/LICENSE_1_0.txt)


boost-build src/kernel ;
using mpi ;

        注意mpi后面有个空格，然后才是；

        之后重新编译安装boost，打印内容显示zlib等等库都已关联：

Building the Boost C++ Libraries.


    - C++11 mutex              : yes
    - lockfree boost::atomic_flag : yes
    - Boost.Config Feature Check: cxx11_auto_declarations : yes
    - Boost.Config Feature Check: cxx11_constexpr : yes
    - Boost.Config Feature Check: cxx11_defaulted_functions : yes
    - Boost.Config Feature Check: cxx11_final : yes
    - Boost.Config Feature Check: cxx11_hdr_mutex : yes
    - Boost.Config Feature Check: cxx11_hdr_tuple : yes
    - Boost.Config Feature Check: cxx11_lambdas : yes
    - Boost.Config Feature Check: cxx11_noexcept : yes
    - Boost.Config Feature Check: cxx11_nullptr : yes
    - Boost.Config Feature Check: cxx11_rvalue_references : yes
    - Boost.Config Feature Check: cxx11_template_aliases : yes
    - Boost.Config Feature Check: cxx11_thread_local : yes
    - Boost.Config Feature Check: cxx11_variadic_templates : yes
    - has_icu builds           : yes
warning: Graph library does not contain MPI-based parallel components.
note: to enable them, add "using mpi ;" to your user-config.jam.
note: to suppress this message, pass "--without-graph_parallel" to bjam.
    - zlib                     : yes
    - bzip2                    : yes
    - lzma                     : yes
    - zstd                     : no
    - lzma                     : yes (cached)
    - has_lzma_cputhreads builds : yes
    - iconv (libc)             : yes
    - icu                      : yes
    - native-atomic-int32-supported : yes
    - native-syslog-supported  : yes
    - pthread-supports-robust-mutexes : yes
    - compiler-supports-ssse3  : yes
    - compiler-supports-avx2   : yes
    - gcc visibility           : yes
    - long double support      : yes
warning: skipping optional Message Passing Interface (MPI) library.
note: to enable MPI support, add "using mpi ;" to user-config.jam.
note: to suppress this message, pass "--without-mpi" to bjam.
note: otherwise, you can safely ignore this message.
    - libbacktrace builds      : yes
    - addr2line builds         : yes
    - WinDbg builds            : no
    - WinDbgCached builds      : no
    - BOOST_COMP_GNUC >= 4.3.0 : yes
    - zlib                     : yes
    - bzip2                    : yes
    - lzma                     : yes
    - zstd                     : no

        再编译cartographer_ros，通过。