[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 [0.033s] Consolidate compiler generated dependencies of target g29_ros2_feedback_node [0.046s] [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o [1.483s] 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: [1.483s] /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&)’: [1.483s] /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;;] [1.483s] 56 | std::string filename; // 设备文件名 [1.483s] | ^~~~~~~~ [1.483s] /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;;] [1.483s] 40 | : filename(filename), Node(node_name) // 初始化成员变量 filename [1.483s] | ^ [1.483s] /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;;] [1.483s] 39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name) [1.483s] | ^~~~~~~~~~~~ [1.485s] /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’? [1.485s] 91 | g29_publisher = this->create_publisher("g29_feedback", 10); [1.485s] | ^~~ [1.485s] | Joy [1.485s] /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)’ [1.485s] 91 | 29_publisher = this->create_publisher("g29_feedback", 10); [1.485s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ [1.485s] [1.485s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [1.485s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [1.485s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [1.485s] from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25, [1.485s] from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34: [1.485s] /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&)’ [1.485s] 195 | create_publisher( [1.486s] | ^~~~~~~~~~~~~~~~ [1.486s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:195:3: note:  template argument deduction/substitution failed: [1.486s] /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 [1.486s] 91 | 29_publisher = this->create_publisher("g29_feedback", 10); [1.486s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ [1.486s] [1.493s] /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()’: [1.493s] /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’? [1.493s] 159 | auto message = sensor_msgs::msg::joy(); [1.493s] | ^~~ [1.493s] | Joy [1.814s] gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1 [1.814s] gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2 [1.814s] gmake: *** [Makefile:146：all] 错误 2 [1.815s] 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