compile error #31

when i run
catkin_make
it comes out:
[ 88%] Linking CXX executable /home/ubuntu/bt/devel/lib/behavior_tree_core/gtest_ros
[ 89%] Linking CXX executable /home/ubuntu/bt/devel/lib/behavior_tree_core/tree
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutSwapBuffers' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutMainLoop'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutDisplayFunc' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutSpecialFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutPostRedisplay' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutCreateWindow'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInit' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardUpFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmapCharacter' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInitWindowSize' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmap8By13'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInitDisplayMode' /home/ubuntu/bt/devel/libcollect2: error: ld returned 1 exit status /libbehavior_tree_core.so: undefined reference to glutSwapBuffers'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutMainLoop' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutDisplayFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutSpecialFunc' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutPostRedisplay'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutCreateWindow' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInit'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardUpFunc' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmapCharacter'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardFunc' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInitWindowSize'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmap8By13' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInitDisplayMode'
ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_ros.dir/build.make:138: recipe for target '/home/ubuntu/bt /devel/lib/behavior_tree_core/gtest_ros' failed
make[2]: *** [/home/ubuntu/bt/devel/lib/behavior_tree_core/gtest_ros] Error 1
CMakeFiles/Makefile2:1754: recipe for target 'ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_ros.dir/all' failed
make[1]: *** [ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_ros.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
collect2: error: ld returned 1 exit status
ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/tree.dir/build.make:137: recipe for target '/home/ubuntu/bt/deve l/lib/behavior_tree_core/tree' failed
make[2]: *** [/home/ubuntu/bt/devel/lib/behavior_tree_core/tree] Error 1
CMakeFiles/Makefile2:1700: recipe for target 'ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/tree.dir/all' fail ed
make[1]: *** [ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/tree.dir/all] Error 2
[ 90%] Linking CXX executable /home/ubuntu/bt/devel/lib/behavior_tree_core/gtest_tree
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutSwapBuffers' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutMainLoop'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutDisplayFunc' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutSpecialFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutPostRedisplay' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutCreateWindow'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInit' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardUpFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmapCharacter' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutKeyboardFunc'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutInitWindowSize' /home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to glutBitmap8By13'
/home/ubuntu/bt/devel/lib/libbehavior_tree_core.so: undefined reference to `glutInitDisplayMode'
collect2: error: ld returned 1 exit status
ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_tree.dir/build.make:138: recipe for target '/home/ubuntu/b t/devel/lib/behavior_tree_core/gtest_tree' failed
make[2]: *** [/home/ubuntu/bt/devel/lib/behavior_tree_core/gtest_tree] Error 1
CMakeFiles/Makefile2:1727: recipe for target 'ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_tree.dir/all ' failed
make[1]: *** [ROS-Behavior-Tree/behavior_tree_core/CMakeFiles/gtest_tree.dir/all] Error 2
[ 92%] Linking CXX executable /home/ubuntu/bt/devel/lib/behavior_tree_leaves/action_client
[ 92%] Built target action_client
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
home/ubuntu/bt