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oh, let me end my problem.(get help from labmate) int the cmakelists.txt , focus on the last line. the project_namemeans my findnlopt.cmake works no results. you can change it with ${NLOPT_LIBRARIES} now, it works well. or in the terminal: 5.catkin_make clean and. rm -Rf devel/ build/

which also works. it's just a demo to show the related problems. thanks upfloor guy.

 ## Declare a cpp library
    add_library(${PROJECT_NAME} 
    src/dubins_z_state_space.cpp 
    src/curvature_bvp_solver.cpp 
    src/clothoid_state_space.cpp 
    src/dubins_feasible_path_generator.cpp 
    src/clothoid_z_state_space.cpp
    src/glideslope_bvp_solver.cpp)
    target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${NLOPT_LIBRARIES})

    ## Declare a cpp executable
    add_executable(${PROJECT_NAME}_example_dubins_z_path examples/example_dubins_z_path.cpp)
    target_link_libraries(${PROJECT_NAME}_example_dubins_z_path ${PROJECT_NAME} ${catkin_LIBRARIES})