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when i catkin build terrain_server
Unsuccessful！show:

Errors << terrain_server:make /home/n/mynav_ws/logs/terrain_server/build.make.002.log
/usr/local/lib/libdwl.so: undefined reference to dwl::model::FloatingBaseSystem::getSystemCoM(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)' /usr/local/lib/libdwl.so: undefined reference to dwl::model::FloatingBaseSystem::getSystemCoMRate(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/n/mynav_ws/devel/.private/terrain_server/lib/terrain_server/obstacle_map_server] Error 1
make[1]: *** [CMakeFiles/obstacle_map_server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/local/lib/libdwl.so: undefined reference to dwl::model::FloatingBaseSystem::getSystemCoM(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)' /usr/local/lib/libdwl.so: undefined reference to dwl::model::FloatingBaseSystem::getSystemCoMRate(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/n/mynav_ws/devel/.private/terrain_server/lib/terrain_server/terrain_map_server] Error 1
make[1]: *** [CMakeFiles/terrain_map_server.dir/all] Error 2
make: *** [all] Error 2

how can i solve it?

after compile succesful ! then how i run the demo?
how could i use this control hyq?