In file included from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/main.cpp:10: /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:23: error: ‘sensor_msgs’ was not declared in this scope 66 | rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr g29_publisher; | ^~~~~~~~~~~ /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:44: error: template argument 1 is invalid 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^ /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:47: error: expected ‘;’ at end of member declaration 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^~~~~~~~~ | ; /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:57: error: ‘g29_publisher’ does not name a type; did you mean ‘rmw_publisher_t’? 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^~~~~~~~~~~~~ | rmw_publisher_t 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: /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:23: error: ‘sensor_msgs’ was not declared in this scope 66 | rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr g29_publisher; | ^~~~~~~~~~~ /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:44: error: template argument 1 is invalid 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^ /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:47: error: expected ‘;’ at end of member declaration 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^~~~~~~~~ | ; /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:66:57: error: ‘g29_publisher’ does not name a type; did you mean ‘rmw_publisher_t’? 66 | rclcpp::Publisher::SharedPtr g29_publisher; | ^~~~~~~~~~~~~ | rmw_publisher_t /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&)’: /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;;] 56 | std::string filename; // 设备文件名 | ^~~~~~~~ /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;;] 40 | : filename(filename), Node(node_name) // 初始化成员变量 filename | ^ /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;;] 39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name) | ^~~~~~~~~~~~ /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:5: error: ‘g29_publisher’ was not declared in this scope; did you mean ‘g29_pub_timer’? 91 | g29_publisher = this->create_publisher("g29_feedback", 10); | ^~~~~~~~~~~~~ | g29_pub_timer /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()’: /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:5: error: ‘g29_publisher’ was not declared in this scope; did you mean ‘g29_pub_timer’? 196 | g29_publisher->publish(message); | ^~~~~~~~~~~~~ | g29_pub_timer gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:104：CMakeFiles/g29_ros2_feedback_node.dir/src/main.cpp.o] 错误 1 gmake[2]: *** 正在等待未完成的任务.... gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2 gmake: *** [Makefile:146：all] 错误 2