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  1. [0.005s] 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
    2. 

  2. [0.035s] Consolidate compiler generated dependencies of target g29_ros2_feedback_node
    3. 

  3. [0.048s] [ 25%] Building CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o
    4. 

  4. [1.549s] 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:
    5. 

  5. [1.549s] /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&)’:
    6. 

  6. [1.549s] /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;;]
    7. 

  7. [1.549s]    56 |     std::string filename;  // 设备文件名
    8. 

  8. [1.549s]       |                 ^~~~~~~~
    9. 

  9. [1.549s] /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;;]
    10. 

  10. [1.549s]    40 |     : filename(filename), Node(node_name) // 初始化成员变量 filename
    11. 

  11. [1.549s]       |                                         ^
    12. 

  12. [1.549s] /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;;]
    13. 

  13. [1.549s]    39 | Joystick_pub::Joystick_pub(const std::string &filename, const std::string &node_name)
    14. 

  14. [1.549s]       | ^~~~~~~~~~~~
    15. 

  15. [1.560s] /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()’:
    16. 

  16. [1.560s] /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’
    17. 

  17. [1.560s]   162 |     message.heartbeat = heartbeat;
    18. 

  18. [1.560s]       |             ^~~~~~~~~
    19. 

  19. [1.560s] /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’
    20. 

  20. [1.560s]   163 |     message.axis0 = axis_state[0];
    21. 

  21. [1.560s]       |             ^~~~~
    22. 

  22. [1.560s] /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’
    23. 

  23. [1.560s]   164 |     message.axis1 = axis_state[1];
    24. 

  24. [1.560s]       |             ^~~~~
    25. 

  25. [1.560s] /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’
    26. 

  26. [1.561s]   165 |     message.axis2 = axis_state[2];
    27. 

  27. [1.561s]       |             ^~~~~
    28. 

  28. [1.561s] /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’
    29. 

  29. [1.561s]   166 |     message.axis3 = axis_state[3];
    30. 

  30. [1.562s]       |             ^~~~~
    31. 

  31. [1.562s] /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’
    32. 

  32. [1.562s]   167 |     message.axis4 = axis_state[4];
    33. 

  33. [1.562s]       |             ^~~~~
    34. 

  34. [1.562s] /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’
    35. 

  35. [1.562s]   168 |     message.axis5 = axis_state[5];
    36. 

  36. [1.562s]       |             ^~~~~
    37. 

  37. [1.562s] /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’?
    38. 

  38. [1.562s]   170 |     message.button0 = button_state[0];
    39. 

  39. [1.562s]       |             ^~~~~~~
    40. 

  40. [1.562s]       |             buttons
    41. 

  41. [1.562s] /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’?
    42. 

  42. [1.562s]   171 |     message.button1 = button_state[1];
    43. 

  43. [1.562s]       |             ^~~~~~~
    44. 

  44. [1.562s]       |             buttons
    45. 

  45. [1.562s] /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’?
    46. 

  46. [1.562s]   172 |     message.button2 = button_state[2];
    47. 

  47. [1.562s]       |             ^~~~~~~
    48. 

  48. [1.563s]       |             buttons
    49. 

  49. [1.563s] /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’?
    50. 

  50. [1.563s]   173 |     message.button3 = button_state[3];
    51. 

  51. [1.563s]       |             ^~~~~~~
    52. 

  52. [1.563s]       |             buttons
    53. 

  53. [1.563s] /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’?
    54. 

  54. [1.563s]   174 |     message.button4 = button_state[4];
    55. 

  55. [1.563s]       |             ^~~~~~~
    56. 

  56. [1.563s]       |             buttons
    57. 

  57. [1.563s] /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’?
    58. 

  58. [1.563s]   175 |     message.button5 = button_state[5];
    59. 

  59. [1.563s]       |             ^~~~~~~
    60. 

  60. [1.563s]       |             buttons
    61. 

  61. [1.563s] /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’?
    62. 

  62. [1.563s]   176 |     message.button6 = button_state[6];
    63. 

  63. [1.563s]       |             ^~~~~~~
    64. 

  64. [1.563s]       |             buttons
    65. 

  65. [1.563s] /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’?
    66. 

  66. [1.563s]   177 |     message.button7 = button_state[7];
    67. 

  67. [1.563s]       |             ^~~~~~~
    68. 

  68. [1.563s]       |             buttons
    69. 

  69. [1.564s] /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’?
    70. 

  70. [1.564s]   178 |     message.button8 = button_state[8];
    71. 

  71. [1.564s]       |             ^~~~~~~
    72. 

  72. [1.564s]       |             buttons
    73. 

  73. [1.564s] /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’?
    74. 

  74. [1.564s]   179 |     message.button9 = button_state[9];
    75. 

  75. [1.564s]       |             ^~~~~~~
    76. 

  76. [1.564s]       |             buttons
    77. 

  77. [1.564s] /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’?
    78. 

  78. [1.564s]   180 |     message.button10 = button_state[10];
    79. 

  79. [1.564s]       |             ^~~~~~~~
    80. 

  80. [1.564s]       |             buttons
    81. 

  81. [1.564s] /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’?
    82. 

  82. [1.564s]   181 |     message.button11 = button_state[11];
    83. 

  83. [1.564s]       |             ^~~~~~~~
    84. 

  84. [1.564s]       |             buttons
    85. 

  85. [1.564s] /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’?
    86. 

  86. [1.564s]   182 |     message.button12 = button_state[12];
    87. 

  87. [1.564s]       |             ^~~~~~~~
    88. 

  88. [1.564s]       |             buttons
    89. 

  89. [1.564s] /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’?
    90. 

  90. [1.564s]   183 |     message.button13 = button_state[13];
    91. 

  91. [1.564s]       |             ^~~~~~~~
    92. 

  92. [1.565s]       |             buttons
    93. 

  93. [1.565s] /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’?
    94. 

  94. [1.565s]   184 |     message.button14 = button_state[14];
    95. 

  95. [1.565s]       |             ^~~~~~~~
    96. 

  96. [1.565s]       |             buttons
    97. 

  97. [1.565s] /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’?
    98. 

  98. [1.565s]   185 |     message.button15 = button_state[15];
    99. 

  99. [1.565s]       |             ^~~~~~~~
    100. 

  100. [1.565s]       |             buttons
    101. 

  101. [1.565s] /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’?
    102. 

  102. [1.565s]   186 |     message.button16 = button_state[16];
    103. 

  103. [1.565s]       |             ^~~~~~~~
    104. 

  104. [1.565s]       |             buttons
    105. 

  105. [1.565s] /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’?
    106. 

  106. [1.565s]   187 |     message.button17 = button_state[17];
    107. 

  107. [1.565s]       |             ^~~~~~~~
    108. 

  108. [1.565s]       |             buttons
    109. 

  109. [1.565s] /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’?
    110. 

  110. [1.565s]   188 |     message.button18 = button_state[18];
    111. 

  111. [1.565s]       |             ^~~~~~~~
    112. 

  112. [1.565s]       |             buttons
    113. 

  113. [1.565s] /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’?
    114. 

  114. [1.566s]   189 |     message.button19 = button_state[19];
    115. 

  115. [1.566s]       |             ^~~~~~~~
    116. 

  116. [1.566s]       |             buttons
    117. 

  117. [1.566s] /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’?
    118. 

  118. [1.566s]   190 |     message.button20 = button_state[20];
    119. 

  119. [1.566s]       |             ^~~~~~~~
    120. 

  120. [1.566s]       |             buttons
    121. 

  121. [1.566s] /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’?
    122. 

  122. [1.566s]   191 |     message.button21 = button_state[21];
    123. 

  123. [1.566s]       |             ^~~~~~~~
    124. 

  124. [1.566s]       |             buttons
    125. 

  125. [1.566s] /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’?
    126. 

  126. [1.566s]   192 |     message.button22 = button_state[22];
    127. 

  127. [1.566s]       |             ^~~~~~~~
    128. 

  128. [1.566s]       |             buttons
    129. 

  129. [1.566s] /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’?
    130. 

  130. [1.566s]   193 |     message.button23 = button_state[23];
    131. 

  131. [1.566s]       |             ^~~~~~~~
    132. 

  132. [1.566s]       |             buttons
    133. 

  133. [1.566s] /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’?
    134. 

  134. [1.566s]   194 |     message.button24 = button_state[24];
    135. 

  135. [1.566s]       |             ^~~~~~~~
    136. 

  136. [1.567s]       |             buttons
    137. 

  137. [1.567s] /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> >&)’
    138. 

  138. [1.567s]   196 |     g29_publisher->publish(message);
    139. 

  139. [1.567s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    140. 

  140. [1.567s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    141. 

  141. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    142. 

  142. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    143. 

  143. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    144. 

  144. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    145. 

  145. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    146. 

  146. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    147. 

  147. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    148. 

  148. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    149. 

  149. [1.567s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    150. 

  150. [1.567s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    151. 

  151. [1.567s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    152. 

  152. [1.567s] /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>]’
    153. 

  153. [1.567s]   254 |   publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
    154. 

  154. [1.567s]       |   ^~~~~~~
    155. 

  155. [1.567s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3: note:   template argument deduction/substitution failed:
    156. 

  156. [1.567s] /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> > > >’
    157. 

  157. [1.567s]   196 |     g29_publisher->publish(message);
    158. 

  158. [1.567s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    159. 

  159. [1.568s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    160. 

  160. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    161. 

  161. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    162. 

  162. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    163. 

  163. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    164. 

  164. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    165. 

  165. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    166. 

  166. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    167. 

  167. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    168. 

  168. [1.568s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    169. 

  169. [1.568s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    170. 

  170. [1.568s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    171. 

  171. [1.568s] /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>]’
    172. 

  172. [1.568s]   295 |   publish(const T & msg)
    173. 

  173. [1.568s]       |   ^~~~~~~
    174. 

  174. [1.568s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3: note:   template argument deduction/substitution failed:
    175. 

  175. [1.568s] In file included from /usr/include/c++/11/bits/move.h:57,
    176. 

  176. [1.568s]                  from /usr/include/c++/11/bits/stl_pair.h:59,
    177. 

  177. [1.568s]                  from /usr/include/c++/11/bits/stl_algobase.h:64,
    178. 

  178. [1.568s]                  from /usr/include/c++/11/bits/specfun.h:45,
    179. 

  179. [1.568s]                  from /usr/include/c++/11/cmath:1935,
    180. 

  180. [1.568s]                  from /usr/include/c++/11/math.h:36,
    181. 

  181. [1.568s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:20:
    182. 

  182. [1.569s] /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]’:
    183. 

  183. [1.569s] /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> >]’
    184. 

  184. [1.569s] /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
    185. 

  185. [1.569s] /usr/include/c++/11/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
    186. 

  186. [1.569s]  2579 |     using enable_if_t = typename enable_if<_Cond, _Tp>::type;
    187. 

  187. [1.569s]       |           ^~~~~~~~~~~
    188. 

  188. [1.569s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    189. 

  189. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    190. 

  190. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    191. 

  191. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    192. 

  192. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    193. 

  193. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    194. 

  194. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    195. 

  195. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    196. 

  196. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    197. 

  197. [1.569s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    198. 

  198. [1.569s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    199. 

  199. [1.569s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    200. 

  200. [1.569s] /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>]’
    201. 

  201. [1.569s]   325 |   publish(std::unique_ptr<T, PublishedTypeDeleter> msg)
    202. 

  202. [1.569s]       |   ^~~~~~~
    203. 

  203. [1.569s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3: note:   template argument deduction/substitution failed:
    204. 

  204. [1.570s] /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> > > >’
    205. 

  205. [1.570s]   196 |     g29_publisher->publish(message);
    206. 

  206. [1.570s]       |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
    207. 

  207. [1.570s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
    208. 

  208. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50,
    209. 

  209. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25,
    210. 

  210. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
    211. 

  211. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
    212. 

  212. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
    213. 

  213. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
    214. 

  214. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
    215. 

  215. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
    216. 

  216. [1.570s]                  from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
    217. 

  217. [1.570s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25,
    218. 

  218. [1.570s]                  from /home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34:
    219. 

  219. [1.570s] /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>]’
    220. 

  220. [1.570s]   367 |   publish(const T & msg)
    221. 

  221. [1.570s]       |   ^~~~~~~
    222. 

  222. [1.570s] /opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3: note:   template argument deduction/substitution failed:
    223. 

  223. [1.570s] /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]’
    224. 

  224. [1.570s]   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    225. 

  225. [1.570s]       |   ^~~~~~~
    226. 

  226. [1.570s] /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&’}
    227. 

  227. [1.571s]   386 |   publish(const rcl_serialized_message_t & serialized_msg)
    228. 

  228. [1.571s]       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    229. 

  229. [1.571s] /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>]’
    230. 

  230. [1.571s]   392 |   publish(const SerializedMessage & serialized_msg)
    231. 

  231. [1.571s]       |   ^~~~~~~
    232. 

  232. [1.571s] /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&’
    233. 

  233. [1.571s]   392 |   publish(const SerializedMessage & serialized_msg)
    234. 

  234. [1.571s]       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    235. 

  235. [1.571s] /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> >]’
    236. 

  236. [1.571s]   406 |   publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    237. 

  237. [1.571s]       |   ^~~~~~~
    238. 

  238. [1.571s] /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> >&&’
    239. 

  239. [1.571s]   406 | ublish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
    240. 

  240. [1.571s]       |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
    241. 

  241. [1.571s] 
    242. 

  242. [2.066s] gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
    243. 

  243. [2.066s] gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
    244. 

  244. [2.066s] gmake: *** [Makefile:146：all] 错误 2
    245. 

  245. [2.067s] 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
    246.