occured erro when catkin_make

[out1Man]

When I download this file and put these in my workspace, and I've downloaded customized_ grid_ map、planner_ Msgs and inekf_ Msgs, but when catkin_make, errors are reported:

[ 51%] Building CXX object customized_grid_map/grid_map_ros/CMakeFiles/grid_map_ros.dir/src/PolygonRosConverter.cpp.o
In file included from /usr/include/pthread.h:33,
from /usr/include/x86_64-linux-gnu/c++/9/bits/gthr-default.h:35,
from /usr/include/x86_64-linux-gnu/c++/9/bits/gthr.h:148,
from /usr/include/c++/9/ext/atomicity.h:35,
from /usr/include/c++/9/bits/ios_base.h:39,
from /usr/include/c++/9/ios:42,
from /usr/include/c++/9/istream:38,
from /usr/include/c++/9/sstream:38,
from /usr/include/c++/9/complex:45,
from /usr/include/eigen3/Eigen/Core:96,
from /home/outman/7-2try1/src/customized_grid_map/grid_map_core/include/grid_map_core/TypeDefs.hpp:10,
from /home/outman/7-2try1/src/customized_grid_map/grid_map_core/include/grid_map_core/grid_map_core.hpp:11,
from /home/outman/7-2try1/src/customized_grid_map/grid_map_ros/include/grid_map_ros/GridMapRosConverter.hpp:11,
from /home/outman/7-2try1/src/customized_grid_map/grid_map_ros/src/GridMapRosConverter.cpp:9:
/usr/include/boost/thread/pthread/thread_data.hpp:60:5: error: missing binary operator before token "("
60 | #if PTHREAD_STACK_MIN > 0
| ^~~~~~~~~~~~~~~~~
/home/outman/7-2try1/src/customized_grid_map/grid_map_ros/src/GridMapRosConverter.cpp: In static member function ‘static bool grid_map::GridMapRosConverter::fromOccupancyGrid(const OccupancyGrid&, const string&, grid_map::GridMap&)’:
/home/outman/7-2try1/src/customized_grid_map/grid_map_ros/src/GridMapRosConverter.cpp:244:19: warning: comparison of integer expressions of different signedness: ‘Eigen::internal::traits<Eigen::Matrix<int, 2, 1> >::Scalar’ {aka ‘int’} and ‘std::vector<signed char, std::allocator >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
244 | if (size.prod() != occupancyGrid.data.size()) {
| ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [customized_grid_map/grid_map_ros/CMakeFiles/grid_map_ros.dir/build.make:63：customized_grid_map/grid_map_ros/CMakeFiles/grid_map_ros.dir/src/GridMapRosConverter.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4524：customized_grid_map/grid_map_ros/CMakeFiles/grid_map_ros.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j12 -l12" failed

can you tell me how to solve this?
computer version: ubuntu20.04, ros-noetic
Thanks!