You need to tell it which side of the bimap to use:
typedef boost::associative_property_map<vd_idx_bimap_t::left_map> asso_vd_idx_bimap_t;
// OR
typedef boost::associative_property_map<vd_idx_bimap_t::right_map> asso_vd_idx_bimap_t;
So, see it Live on Coliru
#include <boost/bimap.hpp>
#include <boost/property_map/property_map.hpp>
#include <iostream>
using namespace boost;
int main()
{
typedef int vertex_descriptor_t;
typedef boost::bimaps::bimap< vertex_descriptor_t, size_t > vd_idx_bimap_t;
typedef boost::associative_property_map<vd_idx_bimap_t::left_map> asso_vd_idx_bimap_t;
// define bimap
vd_idx_bimap_t my_bimap;
asso_vd_idx_bimap_t my_asso_bimap(my_bimap.left);
}