How to fix compilation error for upgrading AGX SDK9.0

Our company developed sensor_camera for automatic drive. I can successfully compiled it using AGX SDK 8.0 before,Recently I upgraded AGX SDK to 9.0, I encounters some errors when compiled it,shown as below:

/usr/local/driveworks-2.0/targets/aarch64-Linux/lib/libnvonnxparser.so.0: undefined reference to std::runtime_error::runtime_error(char const*)@GLIBCXX_3.4.21' /usr/local/driveworks-2.0/targets/aarch64-Linux/lib/libnvonnxparser.so.0: undefined reference to std::runtime_error::runtime_error(char const*)@GLIBCXX_3.4.21
/usr/local/driveworks-2.0/targets/aarch64-Linux/lib/libcudnn.so.7: undefined reference to std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_create(unsigned long&, unsigned long)@GLIBCXX_3.4.21' /usr/local/driveworks-2.0/targets/aarch64-Linux/lib/libcudnn.so.7: undefined reference to std::__cxx11::basic_string<char, std::char_traits, std::allocator >::find(char const*, unsigned long, unsigned long) const@GLIBCXX_3.4.21’
collect2: error: ld returned 1 exit status

I took me a long time to solve it,but I failed,How can I to do?
It seems that the issue is relate to https://devtalk.nvidia.com/default/topic/1025826/general/cross-compilation-of-the-visionworks-library/

Dear kmyang,

There are some updates and changes so could you please refer to below link for your topic? Thanks.
https://docs.nvidia.com/drive/active/5.1.0.2L/nvvib_docs/index.html#page/DRIVE%2520Linux%2520HYP%2520PDK%2520Development%2520Guide%2FNvMedia%2Fnvmedia_concept_nvsipl.html%23wwpID0E0MC0HA