diff --git a/cartographer-ros-adapt-glog-0.6.0.patch b/cartographer-ros-adapt-glog-0.6.0.patch
new file mode 100644
index 0000000000000000000000000000000000000000..8bbe502f5148817c51fe1515be63c09dec416622
--- /dev/null
+++ b/cartographer-ros-adapt-glog-0.6.0.patch
@@ -0,0 +1,11 @@
+--- ros-humble-cartographer-ros-2.0.9000/src/ros_log_sink.cpp	2022-04-20 08:01:33.000000000 +0800
++++ ros-humble-cartographer-ros-2.0.9000/src/ros_log_sink.cpp	2023-09-13 10:45:08.000000000 +0800
+@@ -46,7 +46,7 @@
+   (void) base_filename; // TODO: remove unused arg ?
+ 
+   const std::string message_string = ::google::LogSink::ToString(
+-      severity, GetBasename(filename), line, tm_time, message, message_len);
++      severity, GetBasename(filename), line, ::google::LogMessageTime(*tm_time), message, message_len);
+   switch (severity) {
+     case ::google::GLOG_INFO:
+       RCLCPP_INFO_STREAM(logger_, message_string);
diff --git a/cartographer-ros-fix-absl.patch b/cartographer-ros-fix-absl.patch
new file mode 100644
index 0000000000000000000000000000000000000000..9c6da2176954636969f61e1f0e95a774cd20eda0
--- /dev/null
+++ b/cartographer-ros-fix-absl.patch
@@ -0,0 +1,12 @@
+diff -Naur ros-humble-cartographer-ros-2.0.9000_orgin/CMakeLists.txt ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt
+--- ros-humble-cartographer-ros-2.0.9000_orgin/CMakeLists.txt	2022-04-20 08:01:33.000000000 +0800
++++ ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt	2023-10-25 10:21:05.000000000 +0800
+@@ -50,6 +50,8 @@
+ find_package(urdfdom_headers REQUIRED)
+ find_package(visualization_msgs REQUIRED)
+ 
++add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
++
+ include_directories(
+   include
+   ${PCL_INCLUDE_DIRS}
diff --git a/cartographer-ros.spec b/cartographer-ros.spec
index 46282e70b0d2744a0578031f42728ba7e8875aa6..f6e02642e6909e63d7ed5734982aa3a12d71e6b2 100644
--- a/cartographer-ros.spec
+++ b/cartographer-ros.spec
@@ -9,13 +9,15 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        2.0.9000
-Release:        1%{?dist}%{?release_suffix}
+Release:        2%{?dist}%{?release_suffix}
 Summary:        ROS cartographer-ros package
 
 Url:            https://github.com/cartographer-project/cartographer_ros
 License:        Apache 2.0
 Source0:        %{name}_%{version}.orig.tar.gz
 Patch0: cartographer-ros-fix-multiple-definition-error.patch
+Patch1: cartographer-ros-fix-absl.patch
+Patch2: cartographer-ros-adapt-glog-0.6.0
 
 Requires: ros-%{ros_distro}-builtin-interfaces
 Requires: ros-%{ros_distro}-cartographer
@@ -144,5 +146,7 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
+* Wed Sep 12 2023 simonaxi <18701881329@163.com> - 2.0.9000-2
+- fix: adapter absl patch
 * Thu May 04 2023 Chris Lalancette clalancette@openrobotics.org - 2.0.9000-1
 - Autogenerated by ros-porting-tools
diff --git a/cartographer-rviz-fix-absl.patch b/cartographer-rviz-fix-absl.patch
new file mode 100644
index 0000000000000000000000000000000000000000..a30bd0bd4b279db7a10481750ee1e44d87461c40
--- /dev/null
+++ b/cartographer-rviz-fix-absl.patch
@@ -0,0 +1,12 @@
+diff -Naur ros-humble-cartographer-rviz-2.0.9000_org/CMakeLists.txt ros-humble-cartographer-rviz-2.0.9000/CMakeLists.txt
+--- ros-humble-cartographer-rviz-2.0.9000_org/CMakeLists.txt	2022-04-20 08:01:35.000000000 +0800
++++ ros-humble-cartographer-rviz-2.0.9000/CMakeLists.txt	2023-10-25 10:48:36.000000000 +0800
+@@ -50,6 +50,8 @@
+ set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+ find_package(Threads REQUIRED)
+ 
++add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
++
+ set(rviz_plugins_headers_to_moc
+   include/cartographer_rviz/drawable_submap.h
+   include/cartographer_rviz/ogre_slice.h
diff --git a/cartographer-rviz.spec b/cartographer-rviz.spec
index a02e3272e31f24e6dbc4abd2fcdf5bf49fd6f133..e48a8146d1667083304edc39f1edb7e21a8fa0a4 100644
--- a/cartographer-rviz.spec
+++ b/cartographer-rviz.spec
@@ -9,12 +9,13 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        2.0.9000
-Release:        1%{?dist}%{?release_suffix}
+Release:        2%{?dist}%{?release_suffix}
 Summary:        ROS cartographer-rviz package
 
 Url:            https://github.com/cartographer-project/cartographer_ros
 License:        Apache 2.0
 Source0:        %{name}_%{version}.orig.tar.gz
+Patch0: cartographer-rviz-fix-absl.patch
 
 Requires: ros-%{ros_distro}-cartographer
 Requires: ros-%{ros_distro}-cartographer-ros
@@ -117,5 +118,7 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
+* Wed Sep 12 2023 simonaxi <18701881329@163.com> - 2.0.9000-2
+- fix: adapter absl patch
 * Thu May 04 2023 Chris Lalancette clalancette@openrobotics.org - 2.0.9000-1
 - Autogenerated by ros-porting-tools