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I would say this is a "bug" - the CMakeLists.txt file for rcl_logging_log4cxx does not default to the C++17 standard, and unfortunately std::shared_mutex is only a thing post-C++17. I'm not sure where the maintainers stand on this though, since rcl_logging_log4cxx has been recently removed entirely from rcl_logging. In any case, applying the changes from this PR should let you build.

If applying the change is not possible, you will have to wait for the maintainers to either also remove rcl_logging_log4cxx from Galactic or to merge the linked PR into the galactic branch.