catkin build error on Ubuntu20.04 port_def.inc: no such file or directory

[PengqinWANG]

My system is Ubuntu20.04, Gazebo11, ROS Noetic.
When my protobuf version < 3.7 like libprotoc 3.6.1 or 3.0.0, the result of catkin build shows:
Errors << rotors_gazebo_plugins:make /home/rhine/vrep_ws/logs/rotors_gazebo_plugins/build.make.001.log
In file included from /home/rhine/vrep_ws/build/rotors_gazebo_plugins/ConnectGazeboToRosTopic.pb.cc:4:
/home/rhine/vrep_ws/build/rotors_gazebo_plugins/ConnectGazeboToRosTopic.pb.h:10:10: fatal error: google/protobuf/port_def.inc: no such file or directory
10 | #include <google/protobuf/port_def.inc>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/rhine/vrep_ws/build/rotors_gazebo_plugins/Actuators.pb.cc:4:
/home/rhine/vrep_ws/build/rotors_gazebo_plugins/Actuators.pb.h:10:10: fatal error: google/protobuf/port_def.inc: no such file or directory
10 | #include <google/protobuf/port_def.inc>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/mav_msgs.dir/build.make:329：CMakeFiles/mav_msgs.dir/ConnectGazeboToRosTopic.pb.cc.o] error 1

When my protobuf version > 3.7 like libprotoc 3.7.1 or 3.19.1, the result of catkin build shows:
usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/pose.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/pose.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/pose.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /usr/include/gazebo-11/gazebo/msgs/pose.pb.h:33,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /usr/include/gazebo-11/gazebo/msgs/pose.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
17 | #error This file was generated by an older version of protoc which is
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
18 | #error incompatible with your Protocol Buffer headers. Please
| ^~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
19 | #error regenerate this file with a newer version of protoc.
| ^~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Quaternion::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:20:8: error: ‘PROTOBUF_INTERNAL_EXPORT_vector3d_2eproto’ does not name a type; did you mean ‘PROTOBUF_INTERNAL_EXPORT_Header_2eproto’?
20 | extern PROTOBUF_INTERNAL_EXPORT_vector3d_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Vector3d_vector3d_2eproto;
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| PROTOBUF_INTERNAL_EXPORT_Header_2eproto
In file included from /usr/include/gazebo-11/gazebo/msgs/pose.pb.h:33,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:41:8: error: ‘scc_info_Vector3d_vector3d_2eproto’ was not declared in this scope; did you mean ‘scc_info_Header_Header_2eproto’?
41 | &scc_info_Vector3d_vector3d_2eproto.base,}};
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| scc_info_Header_Header_2eproto
In file included from /usr/include/gazebo-11/gazebo/msgs/pose.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Quaternion::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc: In function ‘void AddDescriptors_MagneticField_2eproto()’:
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:95:7: error: ‘::AddDescriptors_quaternion_2eproto’ has not been declared; did you mean ‘AddDescriptors_Header_2eproto’?
95 | ::AddDescriptors_quaternion_2eproto,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| AddDescriptors_Header_2eproto
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/PoseWithCovariance.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Odometry.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/pose.pb.h:145:30: error: ‘google::protobuf::uint8* gazebo::msgs::Pose::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
145 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:96:7: error: ‘::AddDescriptors_vector3d_2eproto’ has not been declared; did you mean ‘AddDescriptors_Header_2eproto’?
96 | ::AddDescriptors_vector3d_2eproto,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| AddDescriptors_Header_2eproto
In file included from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map_type_handler.h:35,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map.h:49,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/generated_message_table_driven.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.h:26,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:4:
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h: In instantiation of ‘static google::protobuf::uint8* google::protobuf::internal::WireFormatLite::InternalWriteMessageToArray(int, const MessageType&, google::protobuf::uint8*) [with MessageType = gazebo::msgs::Vector3d; google::protobuf::uint8 = unsigned char]’:
/home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:422:55: required from here
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h:905:62: error: no matching function for call to ‘gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(google::protobuf::uint8*&) const’
905 | return value.InternalSerializeWithCachedSizesToArray(target);
| ^
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/MagneticField.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:143:30: note: candidate: ‘google::protobuf::uint8* gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:143:30: note: candidate expects 2 arguments, 1 provided
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Quaternion::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:35,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/vector3d.pb.h:143:30: error: ‘google::protobuf::uint8* gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:20:8: error: ‘PROTOBUF_INTERNAL_EXPORT_quaternion_2eproto’ does not name a type; did you mean ‘PROTOBUF_INTERNAL_EXPORT_Header_2eproto’?
20 | extern PROTOBUF_INTERNAL_EXPORT_quaternion_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Quaternion_quaternion_2eproto;
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| PROTOBUF_INTERNAL_EXPORT_Header_2eproto
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:21:8: error: ‘PROTOBUF_INTERNAL_EXPORT_vector3d_2eproto’ does not name a type; did you mean ‘PROTOBUF_INTERNAL_EXPORT_Header_2eproto’?
21 | extern PROTOBUF_INTERNAL_EXPORT_vector3d_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Vector3d_vector3d_2eproto;
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| PROTOBUF_INTERNAL_EXPORT_Header_2eproto
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:42:8: error: ‘scc_info_Quaternion_quaternion_2eproto’ was not declared in this scope
42 | &scc_info_Quaternion_quaternion_2eproto.base,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:43:8: error: ‘scc_info_Vector3d_vector3d_2eproto’ was not declared in this scope; did you mean ‘scc_info_Header_Header_2eproto’?
43 | &scc_info_Vector3d_vector3d_2eproto.base,}};
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| scc_info_Header_Header_2eproto
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc: In function ‘void AddDescriptors_Imu_2eproto()’:
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:109:7: error: ‘::AddDescriptors_quaternion_2eproto’ has not been declared; did you mean ‘AddDescriptors_Header_2eproto’?
109 | ::AddDescriptors_quaternion_2eproto,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| AddDescriptors_Header_2eproto
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:110:7: error: ‘::AddDescriptors_vector3d_2eproto’ has not been declared; did you mean ‘AddDescriptors_Header_2eproto’?
110 | ::AddDescriptors_vector3d_2eproto,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| AddDescriptors_Header_2eproto
make[2]: *** [CMakeFiles/mav_msgs.dir/build.make:452：CMakeFiles/mav_msgs.dir/MagneticField.pb.cc.o] error 1
make[2]: *** [CMakeFiles/mav_msgs.dir/build.make:478：CMakeFiles/mav_msgs.dir/Odometry.pb.cc.o] error 1
In file included from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map_type_handler.h:35,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map.h:49,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/generated_message_table_driven.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:26,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h: In instantiation of ‘static google::protobuf::uint8* google::protobuf::internal::WireFormatLite::InternalWriteMessageToArray(int, const MessageType&, google::protobuf::uint8*) [with MessageType = gazebo::msgs::Quaternion; google::protobuf::uint8 = unsigned char]’:
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:642:52: required from here
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h:905:62: error: no matching function for call to ‘gazebo::msgs::Quaternion::InternalSerializeWithCachedSizesToArray(google::protobuf::uint8*&) const’
905 | return value.InternalSerializeWithCachedSizesToArray(target);
| ^
In file included from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:143:30: note: candidate: ‘google::protobuf::uint8* gazebo::msgs::Quaternion::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’
143 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gazebo-11/gazebo/msgs/quaternion.pb.h:143:30: note: candidate expects 2 arguments, 1 provided
In file included from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map_type_handler.h:35,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/map.h:49,
from /home/rhine/anaconda3/envs/tf/include/google/protobuf/generated_message_table_driven.h:34,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.h:26,
from /home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:4:
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h: In instantiation of ‘static google::protobuf::uint8* google::protobuf::internal::WireFormatLite::InternalWriteMessageToArray(int, const MessageType&, google::protobuf::uint8*) [with MessageType = gazebo::msgs::Vector3d; google::protobuf::uint8 = unsigned char]’:
/home/rhine/flight_ws/build/rotors_gazebo_plugins/Imu.pb.cc:662:57: required from here
/home/rhine/anaconda3/envs/tf/include/google/protobuf/wire_format_lite_inl.h:905:62: error: no matching function for call to ‘gazebo::msgs::Vector3d::InternalSerializeWithCachedSizesToArray(google::protobuf::uint8*&) const’
905 | return value.InternalSerializeWithCachedSizesToArray(target);

Could anyone help me?
Thank you!