[0.006s] Invoking command in '/home/wub/work/1_nzzn/2_code/13_LG/build/g29_ros2_feedback': CMAKE_PREFIX_PATH=/home/wub/work/1_nzzn/2_code/13_LG/install/g29_msg:/home/wub/work/1_nzzn/2_code/13_LG/install/g29_ros2_feedback:/opt/ros/humble /usr/bin/cmake --build /home/wub/work/1_nzzn/2_code/13_LG/build/g29_ros2_feedback -- -j12 -l12
[0.034s] Consolidate compiler generated dependencies of target g29_ros2_feedback_node
[0.047s] [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o
[1.593s] In file included from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.594s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h: In constructor ‘Joystick_pub::Joystick_pub(const string&, const string&)’:
[1.594s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:56:17: warning: ‘Joystick_pub::filename’ will be initialized after []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;]
[1.594s]    56 |     std::string filename;  // 设备文件名
[1.594s]       |                 ^~~~~~~~
[1.594s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:40:41: warning:   base ‘rclcpp::Node’ []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;]
[1.594s]    40 |     : filename(filename), Node(node_name) // 初始化成员变量 filename
[1.594s]       |                                         ^
[1.594s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:39:1: warning:   when initialized here []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;]
[1.594s]    39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name)
[1.594s]       | ^~~~~~~~~~~~
[1.601s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85: error: no match for ‘operator=’ (operand types are ‘rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >::SharedPtr’ {aka ‘std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >’} and ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’)
[1.602s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
[1.602s]       |                                                                      ^
[1.602s] 
[1.602s] In file included from /usr/include/c++/11/memory:77,
[1.602s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
[1.602s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.602s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:363:9: note: candidate: ‘template<class _Yp> std::shared_ptr<_Tp>::_Assignable<const std::shared_ptr<_Yp>&> std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Yp>&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.602s]   363 |         operator=(const shared_ptr<_Yp>& __r) noexcept
[1.602s]       |         ^~~~~~~~
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:363:9: note:   template argument deduction/substitution failed:
[1.602s] /usr/include/c++/11/bits/shared_ptr.h: In substitution of ‘template<class _Tp> template<class _Arg> using _Assignable = typename std::enable_if<std::is_assignable<std::__shared_ptr<_Tp>&, _Arg>::value, std::shared_ptr<_Tp>&>::type [with _Arg = const std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >&; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’:
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:363:2:   required by substitution of ‘template<class _Yp> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::_Assignable<const std::shared_ptr<_Tp>&> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::operator=<_Yp>(const std::shared_ptr<_Tp>&) [with _Yp = rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> >]’
[1.602s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:   required from here
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:130:15: error: no type named ‘type’ in ‘struct std::enable_if<false, std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&>’
[1.602s]   130 |         using _Assignable = typename enable_if<
[1.602s]       |               ^~~~~~~~~~~
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:374:9: note: candidate: ‘template<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::auto_ptr<_Up> > std::shared_ptr<_Tp>::operator=(std::auto_ptr<_Up>&&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.602s]   374 |         operator=(auto_ptr<_Yp>&& __r)
[1.602s]       |         ^~~~~~~~
[1.602s] /usr/include/c++/11/bits/shared_ptr.h:374:9: note:   template argument deduction/substitution failed:
[1.602s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85: note:   ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’ is not derived from ‘std::auto_ptr<_Up>’
[1.602s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
[1.602s]       |                                                                      ^
[1.602s] 
[1.602s] In file included from /usr/include/c++/11/memory:77,
[1.602s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
[1.602s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.602s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:391:9: note: candidate: ‘template<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::shared_ptr<_Yp> > std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Yp>&&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.603s]   391 |         operator=(shared_ptr<_Yp>&& __r) noexcept
[1.603s]       |         ^~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:391:9: note:   template argument deduction/substitution failed:
[1.603s] /usr/include/c++/11/bits/shared_ptr.h: In substitution of ‘template<class _Tp> template<class _Arg> using _Assignable = typename std::enable_if<std::is_assignable<std::__shared_ptr<_Tp>&, _Arg>::value, std::shared_ptr<_Tp>&>::type [with _Arg = std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’:
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:391:2:   required by substitution of ‘template<class _Yp> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::_Assignable<std::shared_ptr<_Tp> > std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::operator=<_Yp>(std::shared_ptr<_Tp>&&) [with _Yp = rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> >]’
[1.603s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:   required from here
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:130:15: error: no type named ‘type’ in ‘struct std::enable_if<false, std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&>’
[1.603s]   130 |         using _Assignable = typename enable_if<
[1.603s]       |               ^~~~~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:399:9: note: candidate: ‘template<class _Yp, class _Del> std::shared_ptr<_Tp>::_Assignable<std::unique_ptr<_Up, _Ep> > std::shared_ptr<_Tp>::operator=(std::unique_ptr<_Up, _Ep>&&) [with _Yp = _Yp; _Del = _Del; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.603s]   399 |         operator=(unique_ptr<_Yp, _Del>&& __r)
[1.603s]       |         ^~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:399:9: note:   template argument deduction/substitution failed:
[1.603s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85: note:   ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’ is not derived from ‘std::unique_ptr<_Tp, _Dp>’
[1.603s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
[1.603s]       |                                                                      ^
[1.603s] 
[1.603s] In file included from /usr/include/c++/11/memory:77,
[1.603s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
[1.603s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.603s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:359:19: note: candidate: ‘std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Tp>&) [with _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.603s]   359 |       shared_ptr& operator=(const shared_ptr&) noexcept = default;
[1.603s]       |                   ^~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:359:29: note:   no known conversion for argument 1 from ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’ to ‘const std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&’
[1.603s]   359 |       shared_ptr& operator=(const shared_ptr&) noexcept = default;
[1.603s]       |                             ^~~~~~~~~~~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:383:7: note: candidate: ‘std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Tp>&&) [with _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >]’
[1.603s]   383 |       operator=(shared_ptr&& __r) noexcept
[1.603s]       |       ^~~~~~~~
[1.603s] /usr/include/c++/11/bits/shared_ptr.h:383:30: note:   no known conversion for argument 1 from ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’ to ‘std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&&’
[1.603s]   383 |       operator=(shared_ptr&& __r) noexcept
[1.603s]       |                 ~~~~~~~~~~~~~^~~
[1.612s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp: In member function ‘void Joystick_pub::publish()’:
[1.612s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27: error: no matching function for call to ‘rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >::publish(sensor_msgs::msg::Joy_<std::allocator<void> >&)’
[1.612s]   196 |     g29_publisher->publish(message);
[1.612s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
[1.612s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
[1.612s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
[1.612s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.612s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.612s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3: note: candidate: ‘template<class T> std::enable_if_t<(rosidl_generator_traits::is_message<T>::value && std::is_same<T, typename rclcpp::TypeAdapter<MessageT>::ros_message_type>::value)> rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Allocator>::rebind_traits<typename rclcpp::TypeAdapter<MessageT, void, void>::ros_message_type>::allocator_type>::rebind_alloc<typename rclcpp::TypeAdapter<MessageT, void, void>::ros_message_type>, std::allocator<typename rclcpp::TypeAdapter<MessageT>::ros_message_type> >::value, std::default_delete<typename rclcpp::TypeAdapter<MessageT>::ros_message_type>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Allocator>::rebind_traits<typename rclcpp::TypeAdapter<MessageT, void, void>::ros_message_type>::allocator_type> >::type>) [with T = T; MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
[1.613s]   254 |   publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
[1.613s]       |   ^~~~~~~
[1.613s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3: note:   template argument deduction/substitution failed:
[1.613s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27: note:   ‘sensor_msgs::msg::Joy_<std::allocator<void> >’ is not derived from ‘std::unique_ptr<T, std::default_delete<g29_msg::msg::G29Msg_<std::allocator<void> > > >’
[1.613s]   196 |     g29_publisher->publish(message);
[1.613s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
[1.613s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
[1.613s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
[1.613s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.613s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.613s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3: note: candidate: ‘template<class T> std::enable_if_t<(rosidl_generator_traits::is_message<T>::value && std::is_same<T, typename rclcpp::TypeAdapter<MessageT>::ros_message_type>::value)> rclcpp::Publisher<MessageT, AllocatorT>::publish(const T&) [with T = T; MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
[1.613s]   295 |   publish(const T & msg)
[1.613s]       |   ^~~~~~~
[1.613s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3: note:   template argument deduction/substitution failed:
[1.613s] In file included from /usr/include/c++/11/bits/move.h:57,
[1.613s]                  from /usr/include/c++/11/bits/stl_pair.h:59,
[1.613s]                  from /usr/include/c++/11/bits/stl_algobase.h:64,
[1.613s]                  from /usr/include/c++/11/bits/specfun.h:45,
[1.613s]                  from /usr/include/c++/11/cmath:1935,
[1.613s]                  from /usr/include/c++/11/math.h:36,
[1.613s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:20:
[1.613s] /usr/include/c++/11/type_traits: In substitution of ‘template<bool _Cond, class _Tp> using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = void]’:
[1.613s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3:   required by substitution of ‘template<class T> std::enable_if_t<(rosidl_generator_traits::is_message<T>::value && std::is_same<T, g29_msg::msg::G29Msg_<std::allocator<void> > >::value), void> rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >::publish<T>(const T&) [with T = sensor_msgs::msg::Joy_<std::allocator<void> >]’
[1.613s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27:   required from here
[1.613s] /usr/include/c++/11/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
[1.613s]  2579 |     using enable_if_t = typename enable_if<_Cond, _Tp>::type;
[1.614s]       |           ^~~~~~~~~~~
[1.614s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
[1.614s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.614s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3: note: candidate: ‘template<class T> std::enable_if_t<(typename rclcpp::TypeAdapter<MessageT>::is_specialized::value && std::is_same<T, typename rclcpp::TypeAdapter<MessageT>::custom_type>::value)> rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Allocator>::rebind_traits<typename rclcpp::TypeAdapter<MessageT, void, void>::custom_type>::allocator_type>::rebind_alloc<typename rclcpp::TypeAdapter<MessageT, void, void>::custom_type>, std::allocator<typename rclcpp::TypeAdapter<MessageT>::custom_type> >::value, std::default_delete<typename rclcpp::TypeAdapter<MessageT>::custom_type>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Allocator>::rebind_traits<typename rclcpp::TypeAdapter<MessageT, void, void>::custom_type>::allocator_type> >::type>) [with T = T; MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
[1.614s]   325 |   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
[1.614s]       |   ^~~~~~~
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3: note:   template argument deduction/substitution failed:
[1.614s] /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27: note:   ‘sensor_msgs::msg::Joy_<std::allocator<void> >’ is not derived from ‘std::unique_ptr<T, std::default_delete<g29_msg::msg::G29Msg_<std::allocator<void> > > >’
[1.614s]   196 |     g29_publisher->publish(message);
[1.614s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
[1.614s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
[1.614s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
[1.614s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
[1.614s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3: note: candidate: ‘template<class T> std::enable_if_t<(typename rclcpp::TypeAdapter<MessageT>::is_specialized::value && std::is_same<T, typename rclcpp::TypeAdapter<MessageT>::custom_type>::value)> rclcpp::Publisher<MessageT, AllocatorT>::publish(const T&) [with T = T; MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
[1.614s]   367 |   publish(const T & msg)
[1.614s]       |   ^~~~~~~
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3: note:   template argument deduction/substitution failed:
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:386:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rcl_serialized_message_t&) [with MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>; rcl_serialized_message_t = rcutils_uint8_array_s]’
[1.614s]   386 |   publish(const rcl_serialized_message_t & serialized_msg)
[1.614s]       |   ^~~~~~~
[1.614s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:386:44: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Joy_<std::allocator<void> >’ to ‘const rcl_serialized_message_t&’ {aka ‘const rcutils_uint8_array_s&’}
[1.614s]   386 |   publish(const rcl_serialized_message_t & serialized_msg)
[1.615s]       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
[1.615s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:392:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
[1.615s]   392 |   publish(const SerializedMessage & serialized_msg)
[1.615s]       |   ^~~~~~~
[1.615s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:392:37: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Joy_<std::allocator<void> >’ to ‘const rclcpp::SerializedMessage&’
[1.615s]   392 |   publish(const SerializedMessage & serialized_msg)
[1.615s]       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
[1.615s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:406:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(rclcpp::LoanedMessage<typename rclcpp::TypeAdapter<MessageT>::ros_message_type, AllocatorT>&&) [with MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>; typename rclcpp::TypeAdapter<MessageT>::ros_message_type = g29_msg::msg::G29Msg_<std::allocator<void> >]’
[1.615s]   406 |   publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
[1.615s]       |   ^~~~~~~
[1.615s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:406:64: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Joy_<std::allocator<void> >’ to ‘rclcpp::LoanedMessage<g29_msg::msg::G29Msg_<std::allocator<void> >, std::allocator<void> >&&’
[1.615s]   406 | ublish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
[1.615s]       |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
[1.615s] 
[2.099s] gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
[2.099s] gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
[2.099s] gmake: *** [Makefile:146：all] 错误 2
[2.101s] Invoked command in '/home/wub/work/1_nzzn/2_code/13_LG/build/g29_ros2_feedback' returned '2': CMAKE_PREFIX_PATH=/home/wub/work/1_nzzn/2_code/13_LG/install/g29_msg:/home/wub/work/1_nzzn/2_code/13_LG/install/g29_ros2_feedback:/opt/ros/humble /usr/bin/cmake --build /home/wub/work/1_nzzn/2_code/13_LG/build/g29_ros2_feedback -- -j12 -l12