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:91:85: 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> > >’)
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
      |                                                                      ^

In file included from /usr/include/c++/11/memory:77,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
                 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:
/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> > >]’
  363 |         operator=(const shared_ptr<_Yp>& __r) noexcept
      |         ^~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:363:9: note:   template argument deduction/substitution failed:
/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> > >]’:
/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> >]’
/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
/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> > > >&>’
  130 |         using _Assignable = typename enable_if<
      |               ^~~~~~~~~~~
/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> > >]’
  374 |         operator=(auto_ptr<_Yp>&& __r)
      |         ^~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:374:9: 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:91:85: note:   ‘std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >’ is not derived from ‘std::auto_ptr<_Up>’
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
      |                                                                      ^

In file included from /usr/include/c++/11/memory:77,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
                 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:
/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> > >]’
  391 |         operator=(shared_ptr<_Yp>&& __r) noexcept
      |         ^~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:391:9: note:   template argument deduction/substitution failed:
/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> > >]’:
/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> >]’
/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
/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> > > >&>’
  130 |         using _Assignable = typename enable_if<
      |               ^~~~~~~~~~~
/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> > >]’
  399 |         operator=(unique_ptr<_Yp, _Del>&& __r)
      |         ^~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:399:9: 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:91:85: 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>’
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10);
      |                                                                      ^

In file included from /usr/include/c++/11/memory:77,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
                 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:
/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> > >]’
  359 |       shared_ptr& operator=(const shared_ptr&) noexcept = default;
      |                   ^~~~~~~~
/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> > > >&’
  359 |       shared_ptr& operator=(const shared_ptr&) noexcept = default;
      |                             ^~~~~~~~~~~~~~~~~
/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> > >]’
  383 |       operator=(shared_ptr&& __r) noexcept
      |       ^~~~~~~~
/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> > > >&&’
  383 |       operator=(shared_ptr&& __r) noexcept
      |                 ~~~~~~~~~~~~~^~~
/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