plz teach me

I want to know how I can use this repo to work with ros2 (humble). Since I am using ubuntu 22.04, I also need to take care of migrations and build dependencies.

Excuse me,I got a error when I used the repositories code constructed a workspace to build .Can you tell why?

The error information is:

In file included from /home/zys/HexapodAlgorithm/Hexapod-ROS/src/crab_imu/src/IMU/DCM.cpp:9:0:
/usr/include/stdlib.h:837:12: error: expected unqualified-id before ‘int’
extern int abs (int __x) __THROW attribute ((const)) __wur;
^
/usr/include/stdlib.h:837:12: error: expected ‘)’ before ‘int’
/usr/include/stdlib.h:837:12: error: expected ‘)’ before ‘int’
In file included from /usr/include/c++/7/cmath:47:0,
from /usr/include/c++/7/math.h:36,
from /home/zys/HexapodAlgorithm/Hexapod-ROS/src/crab_imu/src/IMU/DCM.cpp:12:
/usr/include/c++/7/bits/std_abs.h:52:11: error: ‘::abs’ has not been declared
using ::abs;
^~~
crab_imu/CMakeFiles/imu.dir/build.make:86: recipe for target 'crab_imu/CMakeFiles/imu.dir/src/IMU/DCM.cpp.o' failed
make[2]: *** [crab_imu/CMakeFiles/imu.dir/src/IMU/DCM.cpp.o] Error 1
CMakeFiles/Makefile2:1764: recipe for target 'crab_imu/CMakeFiles/imu.dir/all' failed
make[1]: *** [crab_imu/CMakeFiles/imu.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/zys/HexapodAlgorithm/Hexapod-ROS/src/crab_body_kinematics/src/body_kinematics.cpp:1:0:
/home/zys/HexapodAlgorithm/Hexapod-ROS/src/crab_body_kinematics/src/body_kinematics.hpp:7:10: fatal error: crab_msgs/GetLegIKSolver.h: No such file or directory
#include <crab_msgs/GetLegIKSolver.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
crab_body_kinematics/CMakeFiles/body_kinematics.dir/build.make:62: recipe for target 'crab_body_kinematics/CMakeFiles/body_kinematics.dir/src/body_kinematics.cpp.o' failed
make[2]: *** [crab_body_kinematics/CMakeFiles/body_kinematics.dir/src/body_kinematics.cpp.o] Error 1
CMakeFiles/Makefile2:1707: recipe for target 'crab_body_kinematics/CMakeFiles/body_kinematics.dir/all' failed
make[1]: *** [crab_body_kinematics/CMakeFiles/body_kinematics.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed
The terminal process "bash '-c', 'catkin_make'" terminated with exit code: 1.