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  1. -- Found ament_cmake: 1.3.11 (/opt/ros/humble/share/ament_cmake/cmake)
    2. 

  2. -- Found std_msgs: 4.8.0 (/opt/ros/humble/share/std_msgs/cmake)
    3. 

  3. -- Found rosidl_generator_c: 3.1.6 (/opt/ros/humble/share/rosidl_generator_c/cmake)
    4. 

  4. -- Found rosidl_adapter: 3.1.6 (/opt/ros/humble/share/rosidl_adapter/cmake)
    5. 

  5. -- Found rosidl_generator_cpp: 3.1.6 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
    6. 

  6. -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
    7. 

  7. -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
    8. 

  8. -- Found rclcpp: 16.0.12 (/opt/ros/humble/share/rclcpp/cmake)
    9. 

  9. -- Found rmw_implementation_cmake: 6.1.2 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
    10. 

  10. -- Found rmw_fastrtps_cpp: 6.2.7 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
    11. 

  11. -- Using RMW implementation 'rmw_fastrtps_cpp' as default
    12. 

  12. -- Found sensor_msgs: 4.8.0 (/opt/ros/humble/share/sensor_msgs/cmake)
    13. 

  13. -- Found g29_msg: 0.0.0 (/home/wub/work/1_nzzn/2_code/13_LG/install/g29_msg/share/g29_msg/cmake)
    14. 

  14. -- Found ament_lint_auto: 0.12.12 (/opt/ros/humble/share/ament_lint_auto/cmake)
    15. 

  15. -- Added test 'cppcheck' to perform static code analysis on C / C++ code
    16. 

  16. -- Configured cppcheck include dirs: $<BUILD_INTERFACE:/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/include>
    17. 

  17. -- Configured cppcheck exclude dirs and/or files: 
    18. 

  18. -- Added test 'lint_cmake' to check CMake code style
    19. 

  19. -- Added test 'uncrustify' to check C / C++ code style
    20. 

  20. -- Configured uncrustify additional arguments: 
    21. 

  21. -- Added test 'xmllint' to check XML markup files
    22. 

  22. -- Configuring done
    23. 

  23. -- Generating done
    24. 

  24. -- Build files have been written to: /home/wub/work/1_nzzn/2_code/13_LG/build/g29_ros2_feedback
    25. 

  25. Consolidate compiler generated dependencies of target g29_ros2_feedback_node
    26. 

  26. [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/evdev_helper.cpp.o
    27. 

  27. [ 50%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o
    28. 

  28. [ 75%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/main.cpp.o
    29. 

  29. 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:
    30. 

  30. /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&)’:
    31. 

  31. /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;;]
    32. 

  32.    56 |     std::string filename;  // 设备文件名
    33. 

  33.       |                 ^~~~~~~~
    34. 

  34. /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;;]
    35. 

  35.    40 |     : filename(filename), Node(node_name) // 初始化成员变量 filename
    36. 

  36.       |                                         ^
    37. 

  37. /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;;]
    38. 

  38.    39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name)
    39. 

  39.       | ^~~~~~~~~~~~
    40. 

  40. /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()’:
    41. 

  41. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:162:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘heartbeat’
    42. 

  42.   162 |     message.heartbeat = heartbeat;
    43. 

  43.       |             ^~~~~~~~~
    44. 

  44. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:163:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis0’
    45. 

  45.   163 |     message.axis0 = axis_state[0];
    46. 

  46.       |             ^~~~~
    47. 

  47. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:164:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis1’
    48. 

  48.   164 |     message.axis1 = axis_state[1];
    49. 

  49.       |             ^~~~~
    50. 

  50. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:165:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis2’
    51. 

  51.   165 |     message.axis2 = axis_state[2];
    52. 

  52.       |             ^~~~~
    53. 

  53. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:166:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis3’
    54. 

  54.   166 |     message.axis3 = axis_state[3];
    55. 

  55.       |             ^~~~~
    56. 

  56. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:167:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis4’
    57. 

  57.   167 |     message.axis4 = axis_state[4];
    58. 

  58.       |             ^~~~~
    59. 

  59. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:168:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘axis5’
    60. 

  60.   168 |     message.axis5 = axis_state[5];
    61. 

  61.       |             ^~~~~
    62. 

  62. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:170:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button0’; did you mean ‘buttons’?
    63. 

  63.   170 |     message.button0 = button_state[0];
    64. 

  64.       |             ^~~~~~~
    65. 

  65.       |             buttons
    66. 

  66. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:171:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button1’; did you mean ‘buttons’?
    67. 

  67.   171 |     message.button1 = button_state[1];
    68. 

  68.       |             ^~~~~~~
    69. 

  69.       |             buttons
    70. 

  70. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:172:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button2’; did you mean ‘buttons’?
    71. 

  71.   172 |     message.button2 = button_state[2];
    72. 

  72.       |             ^~~~~~~
    73. 

  73.       |             buttons
    74. 

  74. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:173:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button3’; did you mean ‘buttons’?
    75. 

  75.   173 |     message.button3 = button_state[3];
    76. 

  76.       |             ^~~~~~~
    77. 

  77.       |             buttons
    78. 

  78. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:174:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button4’; did you mean ‘buttons’?
    79. 

  79.   174 |     message.button4 = button_state[4];
    80. 

  80.       |             ^~~~~~~
    81. 

  81.       |             buttons
    82. 

  82. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:175:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button5’; did you mean ‘buttons’?
    83. 

  83.   175 |     message.button5 = button_state[5];
    84. 

  84.       |             ^~~~~~~
    85. 

  85.       |             buttons
    86. 

  86. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:176:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button6’; did you mean ‘buttons’?
    87. 

  87.   176 |     message.button6 = button_state[6];
    88. 

  88.       |             ^~~~~~~
    89. 

  89.       |             buttons
    90. 

  90. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:177:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button7’; did you mean ‘buttons’?
    91. 

  91.   177 |     message.button7 = button_state[7];
    92. 

  92.       |             ^~~~~~~
    93. 

  93.       |             buttons
    94. 

  94. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:178:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button8’; did you mean ‘buttons’?
    95. 

  95.   178 |     message.button8 = button_state[8];
    96. 

  96.       |             ^~~~~~~
    97. 

  97.       |             buttons
    98. 

  98. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:179:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button9’; did you mean ‘buttons’?
    99. 

  99.   179 |     message.button9 = button_state[9];
    100. 

  100.       |             ^~~~~~~
    101. 

  101.       |             buttons
    102. 

  102. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:180:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button10’; did you mean ‘buttons’?
    103. 

  103.   180 |     message.button10 = button_state[10];
    104. 

  104.       |             ^~~~~~~~
    105. 

  105.       |             buttons
    106. 

  106. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:181:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button11’; did you mean ‘buttons’?
    107. 

  107.   181 |     message.button11 = button_state[11];
    108. 

  108.       |             ^~~~~~~~
    109. 

  109.       |             buttons
    110. 

  110. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:182:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button12’; did you mean ‘buttons’?
    111. 

  111.   182 |     message.button12 = button_state[12];
    112. 

  112.       |             ^~~~~~~~
    113. 

  113.       |             buttons
    114. 

  114. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:183:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button13’; did you mean ‘buttons’?
    115. 

  115.   183 |     message.button13 = button_state[13];
    116. 

  116.       |             ^~~~~~~~
    117. 

  117.       |             buttons
    118. 

  118. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:184:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button14’; did you mean ‘buttons’?
    119. 

  119.   184 |     message.button14 = button_state[14];
    120. 

  120.       |             ^~~~~~~~
    121. 

  121.       |             buttons
    122. 

  122. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:185:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button15’; did you mean ‘buttons’?
    123. 

  123.   185 |     message.button15 = button_state[15];
    124. 

  124.       |             ^~~~~~~~
    125. 

  125.       |             buttons
    126. 

  126. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:186:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button16’; did you mean ‘buttons’?
    127. 

  127.   186 |     message.button16 = button_state[16];
    128. 

  128.       |             ^~~~~~~~
    129. 

  129.       |             buttons
    130. 

  130. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:187:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button17’; did you mean ‘buttons’?
    131. 

  131.   187 |     message.button17 = button_state[17];
    132. 

  132.       |             ^~~~~~~~
    133. 

  133.       |             buttons
    134. 

  134. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:188:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button18’; did you mean ‘buttons’?
    135. 

  135.   188 |     message.button18 = button_state[18];
    136. 

  136.       |             ^~~~~~~~
    137. 

  137.       |             buttons
    138. 

  138. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:189:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button19’; did you mean ‘buttons’?
    139. 

  139.   189 |     message.button19 = button_state[19];
    140. 

  140.       |             ^~~~~~~~
    141. 

  141.       |             buttons
    142. 

  142. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:190:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button20’; did you mean ‘buttons’?
    143. 

  143.   190 |     message.button20 = button_state[20];
    144. 

  144.       |             ^~~~~~~~
    145. 

  145.       |             buttons
    146. 

  146. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:191:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button21’; did you mean ‘buttons’?
    147. 

  147.   191 |     message.button21 = button_state[21];
    148. 

  148.       |             ^~~~~~~~
    149. 

  149.       |             buttons
    150. 

  150. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:192:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button22’; did you mean ‘buttons’?
    151. 

  151.   192 |     message.button22 = button_state[22];
    152. 

  152.       |             ^~~~~~~~
    153. 

  153.       |             buttons
    154. 

  154. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:193:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button23’; did you mean ‘buttons’?
    155. 

  155.   193 |     message.button23 = button_state[23];
    156. 

  156.       |             ^~~~~~~~
    157. 

  157.       |             buttons
    158. 

  158. /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:194:13: error: ‘struct sensor_msgs::msg::Joy_<std::allocator<void> >’ has no member named ‘button24’; did you mean ‘buttons’?
    159. 

  159.   194 |     message.button24 = button_state[24];
    160. 

  160.       |             ^~~~~~~~
    161. 

  161.       |             buttons
    162. 

  162. /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> >&)’
    163. 

  163.   196 |     g29_publisher->publish(message);
    164. 

  164.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    165. 

  165. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    166. 

  166.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    167. 

  167.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    168. 

  168.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    169. 

  169.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    170. 

  170.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    171. 

  171.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    172. 

  172.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    173. 

  173.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    174. 

  174.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    175. 

  175.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    176. 

  176.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    177. 

  177. /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>]’
    178. 

  178.   254 |   publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
    179. 

  179.       |   ^~~~~~~
    180. 

  180. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3: note:   template argument deduction/substitution failed:
    181. 

  181. /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> > > >’
    182. 

  182.   196 |     g29_publisher->publish(message);
    183. 

  183.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    184. 

  184. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    185. 

  185.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    186. 

  186.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    187. 

  187.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    188. 

  188.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    189. 

  189.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    190. 

  190.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    191. 

  191.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    192. 

  192.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    193. 

  193.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    194. 

  194.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    195. 

  195.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    196. 

  196. /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>]’
    197. 

  197.   295 |   publish(const T & msg)
    198. 

  198.       |   ^~~~~~~
    199. 

  199. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3: note:   template argument deduction/substitution failed:
    200. 

  200. In file included from /usr/include/c++/11/bits/move.h:57,
    201. 

  201.                  from /usr/include/c++/11/bits/stl_pair.h:59,
    202. 

  202.                  from /usr/include/c++/11/bits/stl_algobase.h:64,
    203. 

  203.                  from /usr/include/c++/11/bits/specfun.h:45,
    204. 

  204.                  from /usr/include/c++/11/cmath:1935,
    205. 

  205.                  from /usr/include/c++/11/math.h:36,
    206. 

  206.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:20:
    207. 

  207. /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]’:
    208. 

  208. /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> >]’
    209. 

  209. /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
    210. 

  210. /usr/include/c++/11/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
    211. 

  211.  2579 |     using enable_if_t = typename enable_if<_Cond, _Tp>::type;
    212. 

  212.       |           ^~~~~~~~~~~
    213. 

  213. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    214. 

  214.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    215. 

  215.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    216. 

  216.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    217. 

  217.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    218. 

  218.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    219. 

  219.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    220. 

  220.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    221. 

  221.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    222. 

  222.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    223. 

  223.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    224. 

  224.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    225. 

  225. /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>]’
    226. 

  226.   325 |   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
    227. 

  227.       |   ^~~~~~~
    228. 

  228. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3: note:   template argument deduction/substitution failed:
    229. 

  229. /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> > > >’
    230. 

  230.   196 |     g29_publisher->publish(message);
    231. 

  231.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    232. 

  232. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    233. 

  233.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    234. 

  234.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    235. 

  235.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    236. 

  236.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    237. 

  237.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    238. 

  238.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    239. 

  239.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    240. 

  240.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    241. 

  241.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    242. 

  242.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    243. 

  243.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    244. 

  244. /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>]’
    245. 

  245.   367 |   publish(const T & msg)
    246. 

  246.       |   ^~~~~~~
    247. 

  247. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3: note:   template argument deduction/substitution failed:
    248. 

  248. /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]’
    249. 

  249.   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    250. 

  250.       |   ^~~~~~~
    251. 

  251. /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&’}
    252. 

  252.   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    253. 

  253.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    254. 

  254. /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>]’
    255. 

  255.   392 |   publish(const SerializedMessage & serialized_msg)
    256. 

  256.       |   ^~~~~~~
    257. 

  257. /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&’
    258. 

  258.   392 |   publish(const SerializedMessage & serialized_msg)
    259. 

  259.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    260. 

  260. /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> >]’
    261. 

  261.   406 |   publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    262. 

  262.       |   ^~~~~~~
    263. 

  263. /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> >&&’
    264. 

  264.   406 |   publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    265. 

  265.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
    266. 

  266. gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
    267. 

  267. gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
    268. 

  268. gmake: *** [Makefile:146：all] 错误 2
    269.