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  1. Consolidate compiler generated dependencies of target g29_ros2_feedback_node
    2. 

  2. [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o
    3. 

  3. 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:
    4. 

  4. /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&)’:
    5. 

  5. /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;;]
    6. 

  6.    56 |     std::string filename;  // 设备文件名
    7. 

  7.       |                 ^~~~~~~~
    8. 

  8. /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;;]
    9. 

  9.    40 |     : filename(filename), Node(node_name) // 初始化成员变量 filename
    10. 

  10.       |                                         ^
    11. 

  11. /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;;]
    12. 

  12.    39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name)
    13. 

  13.       | ^~~~~~~~~~~~
    14. 

  14. /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()’:
    15. 

  15. /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’
    16. 

  16.   162 |     message.heartbeat = heartbeat;
    17. 

  17.       |             ^~~~~~~~~
    18. 

  18. /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’
    19. 

  19.   163 |     message.axis0 = axis_state[0];
    20. 

  20.       |             ^~~~~
    21. 

  21. /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’
    22. 

  22.   164 |     message.axis1 = axis_state[1];
    23. 

  23.       |             ^~~~~
    24. 

  24. /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’
    25. 

  25.   165 |     message.axis2 = axis_state[2];
    26. 

  26.       |             ^~~~~
    27. 

  27. /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’
    28. 

  28.   166 |     message.axis3 = axis_state[3];
    29. 

  29.       |             ^~~~~
    30. 

  30. /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’
    31. 

  31.   167 |     message.axis4 = axis_state[4];
    32. 

  32.       |             ^~~~~
    33. 

  33. /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’
    34. 

  34.   168 |     message.axis5 = axis_state[5];
    35. 

  35.       |             ^~~~~
    36. 

  36. /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’?
    37. 

  37.   170 |     message.button0 = button_state[0];
    38. 

  38.       |             ^~~~~~~
    39. 

  39.       |             buttons
    40. 

  40. /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’?
    41. 

  41.   171 |     message.button1 = button_state[1];
    42. 

  42.       |             ^~~~~~~
    43. 

  43.       |             buttons
    44. 

  44. /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’?
    45. 

  45.   172 |     message.button2 = button_state[2];
    46. 

  46.       |             ^~~~~~~
    47. 

  47.       |             buttons
    48. 

  48. /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’?
    49. 

  49.   173 |     message.button3 = button_state[3];
    50. 

  50.       |             ^~~~~~~
    51. 

  51.       |             buttons
    52. 

  52. /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’?
    53. 

  53.   174 |     message.button4 = button_state[4];
    54. 

  54.       |             ^~~~~~~
    55. 

  55.       |             buttons
    56. 

  56. /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’?
    57. 

  57.   175 |     message.button5 = button_state[5];
    58. 

  58.       |             ^~~~~~~
    59. 

  59.       |             buttons
    60. 

  60. /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’?
    61. 

  61.   176 |     message.button6 = button_state[6];
    62. 

  62.       |             ^~~~~~~
    63. 

  63.       |             buttons
    64. 

  64. /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’?
    65. 

  65.   177 |     message.button7 = button_state[7];
    66. 

  66.       |             ^~~~~~~
    67. 

  67.       |             buttons
    68. 

  68. /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’?
    69. 

  69.   178 |     message.button8 = button_state[8];
    70. 

  70.       |             ^~~~~~~
    71. 

  71.       |             buttons
    72. 

  72. /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’?
    73. 

  73.   179 |     message.button9 = button_state[9];
    74. 

  74.       |             ^~~~~~~
    75. 

  75.       |             buttons
    76. 

  76. /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’?
    77. 

  77.   180 |     message.button10 = button_state[10];
    78. 

  78.       |             ^~~~~~~~
    79. 

  79.       |             buttons
    80. 

  80. /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’?
    81. 

  81.   181 |     message.button11 = button_state[11];
    82. 

  82.       |             ^~~~~~~~
    83. 

  83.       |             buttons
    84. 

  84. /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’?
    85. 

  85.   182 |     message.button12 = button_state[12];
    86. 

  86.       |             ^~~~~~~~
    87. 

  87.       |             buttons
    88. 

  88. /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’?
    89. 

  89.   183 |     message.button13 = button_state[13];
    90. 

  90.       |             ^~~~~~~~
    91. 

  91.       |             buttons
    92. 

  92. /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’?
    93. 

  93.   184 |     message.button14 = button_state[14];
    94. 

  94.       |             ^~~~~~~~
    95. 

  95.       |             buttons
    96. 

  96. /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’?
    97. 

  97.   185 |     message.button15 = button_state[15];
    98. 

  98.       |             ^~~~~~~~
    99. 

  99.       |             buttons
    100. 

  100. /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’?
    101. 

  101.   186 |     message.button16 = button_state[16];
    102. 

  102.       |             ^~~~~~~~
    103. 

  103.       |             buttons
    104. 

  104. /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’?
    105. 

  105.   187 |     message.button17 = button_state[17];
    106. 

  106.       |             ^~~~~~~~
    107. 

  107.       |             buttons
    108. 

  108. /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’?
    109. 

  109.   188 |     message.button18 = button_state[18];
    110. 

  110.       |             ^~~~~~~~
    111. 

  111.       |             buttons
    112. 

  112. /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’?
    113. 

  113.   189 |     message.button19 = button_state[19];
    114. 

  114.       |             ^~~~~~~~
    115. 

  115.       |             buttons
    116. 

  116. /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’?
    117. 

  117.   190 |     message.button20 = button_state[20];
    118. 

  118.       |             ^~~~~~~~
    119. 

  119.       |             buttons
    120. 

  120. /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’?
    121. 

  121.   191 |     message.button21 = button_state[21];
    122. 

  122.       |             ^~~~~~~~
    123. 

  123.       |             buttons
    124. 

  124. /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’?
    125. 

  125.   192 |     message.button22 = button_state[22];
    126. 

  126.       |             ^~~~~~~~
    127. 

  127.       |             buttons
    128. 

  128. /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’?
    129. 

  129.   193 |     message.button23 = button_state[23];
    130. 

  130.       |             ^~~~~~~~
    131. 

  131.       |             buttons
    132. 

  132. /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’?
    133. 

  133.   194 |     message.button24 = button_state[24];
    134. 

  134.       |             ^~~~~~~~
    135. 

  135.       |             buttons
    136. 

  136. /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> >&)’
    137. 

  137.   196 |     g29_publisher->publish(message);
    138. 

  138.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    139. 

  139. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    140. 

  140.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    141. 

  141.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    142. 

  142.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    143. 

  143.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    144. 

  144.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    145. 

  145.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    146. 

  146.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    147. 

  147.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    148. 

  148.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    149. 

  149.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    150. 

  150.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    151. 

  151. /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>]’
    152. 

  152.   254 |   publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
    153. 

  153.       |   ^~~~~~~
    154. 

  154. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3: note:   template argument deduction/substitution failed:
    155. 

  155. /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> > > >’
    156. 

  156.   196 |     g29_publisher->publish(message);
    157. 

  157.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    158. 

  158. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    159. 

  159.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    160. 

  160.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    161. 

  161.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    162. 

  162.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    163. 

  163.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    164. 

  164.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    165. 

  165.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    166. 

  166.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    167. 

  167.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    168. 

  168.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    169. 

  169.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    170. 

  170. /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>]’
    171. 

  171.   295 |   publish(const T & msg)
    172. 

  172.       |   ^~~~~~~
    173. 

  173. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3: note:   template argument deduction/substitution failed:
    174. 

  174. In file included from /usr/include/c++/11/bits/move.h:57,
    175. 

  175.                  from /usr/include/c++/11/bits/stl_pair.h:59,
    176. 

  176.                  from /usr/include/c++/11/bits/stl_algobase.h:64,
    177. 

  177.                  from /usr/include/c++/11/bits/specfun.h:45,
    178. 

  178.                  from /usr/include/c++/11/cmath:1935,
    179. 

  179.                  from /usr/include/c++/11/math.h:36,
    180. 

  180.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:20:
    181. 

  181. /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]’:
    182. 

  182. /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> >]’
    183. 

  183. /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
    184. 

  184. /usr/include/c++/11/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
    185. 

  185.  2579 |     using enable_if_t = typename enable_if<_Cond, _Tp>::type;
    186. 

  186.       |           ^~~~~~~~~~~
    187. 

  187. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    188. 

  188.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    189. 

  189.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    190. 

  190.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    191. 

  191.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    192. 

  192.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    193. 

  193.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    194. 

  194.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    195. 

  195.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    196. 

  196.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    197. 

  197.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    198. 

  198.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    199. 

  199. /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>]’
    200. 

  200.   325 |   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
    201. 

  201.       |   ^~~~~~~
    202. 

  202. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3: note:   template argument deduction/substitution failed:
    203. 

  203. /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> > > >’
    204. 

  204.   196 |     g29_publisher->publish(message);
    205. 

  205.       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    206. 

  206. In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    207. 

  207.                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    208. 

  208.                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    209. 

  209.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    210. 

  210.                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    211. 

  211.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    212. 

  212.                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    213. 

  213.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    214. 

  214.                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    215. 

  215.                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    216. 

  216.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    217. 

  217.                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    218. 

  218. /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>]’
    219. 

  219.   367 |   publish(const T & msg)
    220. 

  220.       |   ^~~~~~~
    221. 

  221. /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3: note:   template argument deduction/substitution failed:
    222. 

  222. /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]’
    223. 

  223.   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    224. 

  224.       |   ^~~~~~~
    225. 

  225. /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&’}
    226. 

  226.   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    227. 

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

  228. /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>]’
    229. 

  229.   392 |   publish(const SerializedMessage & serialized_msg)
    230. 

  230.       |   ^~~~~~~
    231. 

  231. /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&’
    232. 

  232.   392 |   publish(const SerializedMessage & serialized_msg)
    233. 

  233.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    234. 

  234. /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> >]’
    235. 

  235.   406 |   publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    236. 

  236.       |   ^~~~~~~
    237. 

  237. /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> >&&’
    238. 

  238.   406 | ublish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    239. 

  239.       |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
    240. 

  240. 

  241. gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
    242. 

  242. gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
    243. 

  243. gmake: *** [Makefile:146：all] 错误 2
    244.