Consolidate compiler generated dependencies of target g29_ros2_feedback_node [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o 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: 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:91:62: error: ‘joy’ is not a member of ‘sensor_msgs::msg’; did you mean ‘Joy’? 91 | g29_publisher = this->create_publisher("g29_feedback", 10); | ^~~ | Joy /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:66: error: no matching function for call to ‘Joystick_pub::create_publisher< >(const char [13], int)’ 91 | 29_publisher = this->create_publisher("g29_feedback", 10); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25, from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:195:3: note: candidate: ‘template std::shared_ptr rclcpp::Node::create_publisher(const string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator&)’ 195 | create_publisher( | ^~~~~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:195:3: note:  template argument deduction/substitution failed: /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:66: error: template argument 1 is invalid 91 | 29_publisher = this->create_publisher("g29_feedback", 10); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /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:159:38: error: ‘joy’ is not a member of ‘sensor_msgs::msg’; did you mean ‘Joy’? 159 | auto message = sensor_msgs::msg::joy(); | ^~~ | Joy 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