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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. https://github.com/ros2/rcl_logging/pull/79
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.
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