Error while comiling bebop_autonomy package.

[ibrahimqazi]

I was using Bebop_autonomy package for a long time. But recently I have encountered some errors while compiling the package:
Three of them are given below:
/home/ibrahim/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:93:36: error: ‘CODEC_CAP_TRUNCATED’ was not declared in this scope
if (codec_ptr_->capabilities & CODEC_CAP_TRUNCATED)
^
/home/ibrahim/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:95:32: error: ‘CODEC_FLAG_TRUNCATED’ was not declared in this scope
codec_ctx_ptr_->flags |= CODEC_FLAG_TRUNCATED;
^
/home/ibrahim/catkin_ws/src/bebop_autonomy/bebop_driver/src/bebop_video_decoder.cpp:97:31: error: ‘CODEC_FLAG2_CHUNKS’ was not declared in this scope
codec_ctx_ptr_->flags2 |= CODEC_FLAG2_CHUNKS;
Then I searched for the solution as someone already suggested to add AV_ before all these. So I added as instructed, but now I get the following error:

/usr/bin/ld: cannot find -lavcodec-ffmpeg
/usr/bin/ld: cannot find -lavformat-ffmpeg
/usr/bin/ld: cannot find -lswscale-ffmpeg
collect2: error: ld returned 1 exit status

My whole work is stuck because of this issue can someone help me.
NOTE: According to ffmpeg -version my ffmpeg version is 4.2.2