wld
/
LG


			
				
					
						
						
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							[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
[0.035s] [35m[1mConsolidate compiler generated dependencies of target g29_ros2_feedback_node[0m
[0.048s] [ 25%] [32mBuilding CXX object CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o[0m
[1.560s] In file included from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.560s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:[m[K In constructor ‘[01m[KJoystick_pub::Joystick_pub(const string&, const string&)[m[K’:
[1.560s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:56:17:[m[K [01;35m[Kwarning: [m[K‘[01m[KJoystick_pub::filename[m[K’ will be initialized after [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
[1.560s]    56 |     std::string [01;35m[Kfilename[m[K;  // 设备文件名
[1.560s]       |                 [01;35m[K^~~~~~~~[m[K
[1.560s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:40:41:[m[K [01;35m[Kwarning: [m[K  base ‘[01m[Krclcpp::Node[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
[1.560s]    40 |     : filename(filename), Node(node_name[01;35m[K)[m[K // 初始化成员变量 filename
[1.560s]       |                                         [01;35m[K^[m[K
[1.560s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:39:1:[m[K [01;35m[Kwarning: [m[K  when initialized here [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
[1.560s]    39 | [01;35m[KJoystick_pub[m[K::Joystick_pub(const std::string &filename, const std::string &node_name)
[1.561s]       | [01;35m[K^~~~~~~~~~~~[m[K
[1.568s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:[m[K [01;31m[Kerror: [m[Kno match for ‘[01m[Koperator=[m[K’ (operand types are ‘[01m[Krclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >::SharedPtr[m[K’ {aka ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >[m[K’} and ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >[m[K’)
[1.569s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;31m[K)[m[K;
[1.569s]       |                                                                      [01;31m[K^[m[K
[1.569s] 
[1.569s] In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
[1.569s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
[1.569s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.569s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:363:9:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _Yp> std::shared_ptr<_Tp>::_Assignable<const std::shared_ptr<_Yp>&> std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Yp>&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.569s]   363 |         [01;36m[Koperator[m[K=(const shared_ptr<_Yp>& __r) noexcept
[1.569s]       |         [01;36m[K^~~~~~~~[m[K
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:363:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.569s] /usr/include/c++/11/bits/shared_ptr.h: In substitution of ‘[01m[Ktemplate<class _Tp> template<class _Arg> using _Assignable = typename std::enable_if<std::is_assignable<std::__shared_ptr<_Tp>&, _Arg>::value, std::shared_ptr<_Tp>&>::type [with _Arg = const std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >&; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’:
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:363:2:[m[K   required by substitution of ‘[01m[Ktemplate<class _Yp> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::_Assignable<const std::shared_ptr<_Tp>&> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::operator=<_Yp>(const std::shared_ptr<_Tp>&) [with _Yp = rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> >][m[K’
[1.569s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:[m[K   required from here
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:130:15:[m[K [01;31m[Kerror: [m[Kno type named ‘[01m[Ktype[m[K’ in ‘[01m[Kstruct std::enable_if<false, std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&>[m[K’
[1.569s]   130 |         using [01;31m[K_Assignable[m[K = typename enable_if<
[1.569s]       |               [01;31m[K^~~~~~~~~~~[m[K
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:374:9:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::auto_ptr<_Up> > std::shared_ptr<_Tp>::operator=(std::auto_ptr<_Up>&&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.569s]   374 |         [01;36m[Koperator[m[K=(auto_ptr<_Yp>&& __r)
[1.569s]       |         [01;36m[K^~~~~~~~[m[K
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:374:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.569s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:[m[K [01;36m[Knote: [m[K  ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >[m[K’ is not derived from ‘[01m[Kstd::auto_ptr<_Up>[m[K’
[1.569s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;36m[K)[m[K;
[1.569s]       |                                                                      [01;36m[K^[m[K
[1.569s] 
[1.569s] In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
[1.569s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
[1.569s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.569s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.569s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:391:9:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::shared_ptr<_Yp> > std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Yp>&&) [with _Yp = _Yp; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.569s]   391 |         [01;36m[Koperator[m[K=(shared_ptr<_Yp>&& __r) noexcept
[1.569s]       |         [01;36m[K^~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:391:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.570s] /usr/include/c++/11/bits/shared_ptr.h: In substitution of ‘[01m[Ktemplate<class _Tp> template<class _Arg> using _Assignable = typename std::enable_if<std::is_assignable<std::__shared_ptr<_Tp>&, _Arg>::value, std::shared_ptr<_Tp>&>::type [with _Arg = std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’:
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:391:2:[m[K   required by substitution of ‘[01m[Ktemplate<class _Yp> std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::_Assignable<std::shared_ptr<_Tp> > std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >::operator=<_Yp>(std::shared_ptr<_Tp>&&) [with _Yp = rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> >][m[K’
[1.570s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:[m[K   required from here
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:130:15:[m[K [01;31m[Kerror: [m[Kno type named ‘[01m[Ktype[m[K’ in ‘[01m[Kstruct std::enable_if<false, std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&>[m[K’
[1.570s]   130 |         using [01;31m[K_Assignable[m[K = typename enable_if<
[1.570s]       |               [01;31m[K^~~~~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:399:9:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _Yp, class _Del> std::shared_ptr<_Tp>::_Assignable<std::unique_ptr<_Up, _Ep> > std::shared_ptr<_Tp>::operator=(std::unique_ptr<_Up, _Ep>&&) [with _Yp = _Yp; _Del = _Del; _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.570s]   399 |         [01;36m[Koperator[m[K=(unique_ptr<_Yp, _Del>&& __r)
[1.570s]       |         [01;36m[K^~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:399:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.570s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:91:85:[m[K [01;36m[Knote: [m[K  ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >[m[K’ is not derived from ‘[01m[Kstd::unique_ptr<_Tp, _Dp>[m[K’
[1.570s]    91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;36m[K)[m[K;
[1.570s]       |                                                                      [01;36m[K^[m[K
[1.570s] 
[1.570s] In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
[1.570s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
[1.570s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.570s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:359:19:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Kstd::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Tp>&) [with _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.570s]   359 |       shared_ptr& [01;36m[Koperator[m[K=(const shared_ptr&) noexcept = default;
[1.570s]       |                   [01;36m[K^~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:359:29:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >[m[K’ to ‘[01m[Kconst std::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&[m[K’
[1.570s]   359 |       shared_ptr& operator=([01;36m[Kconst shared_ptr&[m[K) noexcept = default;
[1.570s]       |                             [01;36m[K^~~~~~~~~~~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:383:7:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Kstd::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Tp>&&) [with _Tp = rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >][m[K’
[1.570s]   383 |       [01;36m[Koperator[m[K=(shared_ptr&& __r) noexcept
[1.570s]       |       [01;36m[K^~~~~~~~[m[K
[1.570s] [01m[K/usr/include/c++/11/bits/shared_ptr.h:383:30:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Joy_<std::allocator<void> >, std::allocator<void> > >[m[K’ to ‘[01m[Kstd::shared_ptr<rclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > > >&&[m[K’
[1.570s]   383 |       operator=([01;36m[Kshared_ptr&& __r[m[K) noexcept
[1.570s]       |                 [01;36m[K~~~~~~~~~~~~~^~~[m[K
[1.576s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:[m[K In member function ‘[01m[Kvoid Joystick_pub::publish()[m[K’:
[1.576s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27:[m[K [01;31m[Kerror: [m[Kno matching function for call to ‘[01m[Krclcpp::Publisher<g29_msg::msg::G29Msg_<std::allocator<void> > >::publish(sensor_msgs::msg::Joy_<std::allocator<void> >&)[m[K’
[1.576s]   196 |     [01;31m[Kg29_publisher->publish(message)[m[K;
[1.576s]       |     [01;31m[K~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~[m[K
[1.576s] In file included from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155[m[K,
[1.576s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.576s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.576s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<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>][m[K’
[1.576s]   254 |   [01;36m[Kpublish[m[K(std::unique_ptr<T, ROSMessageTypeDeleter> msg)
[1.576s]       |   [01;36m[K^~~~~~~[m[K
[1.576s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:254:3:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.576s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27:[m[K [01;36m[Knote: [m[K  ‘[01m[Ksensor_msgs::msg::Joy_<std::allocator<void> >[m[K’ is not derived from ‘[01m[Kstd::unique_ptr<T, std::default_delete<g29_msg::msg::G29Msg_<std::allocator<void> > > >[m[K’
[1.576s]   196 |     [01;36m[Kg29_publisher->publish(message)[m[K;
[1.576s]       |     [01;36m[K~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~[m[K
[1.576s] In file included from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25[m[K,
[1.576s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155[m[K,
[1.577s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.577s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.577s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<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>][m[K’
[1.577s]   295 |   [01;36m[Kpublish[m[K(const T & msg)
[1.577s]       |   [01;36m[K^~~~~~~[m[K
[1.577s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.577s] In file included from [01m[K/usr/include/c++/11/bits/move.h:57[m[K,
[1.577s]                  from [01m[K/usr/include/c++/11/bits/stl_pair.h:59[m[K,
[1.577s]                  from [01m[K/usr/include/c++/11/bits/stl_algobase.h:64[m[K,
[1.577s]                  from [01m[K/usr/include/c++/11/bits/specfun.h:45[m[K,
[1.577s]                  from [01m[K/usr/include/c++/11/cmath:1935[m[K,
[1.577s]                  from [01m[K/usr/include/c++/11/math.h:36[m[K,
[1.577s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:20[m[K:
[1.577s] /usr/include/c++/11/type_traits: In substitution of ‘[01m[Ktemplate<bool _Cond, class _Tp> using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = void][m[K’:
[1.577s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:295:3:[m[K   required by substitution of ‘[01m[Ktemplate<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> >][m[K’
[1.577s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27:[m[K   required from here
[1.577s] [01m[K/usr/include/c++/11/type_traits:2579:11:[m[K [01;31m[Kerror: [m[Kno type named ‘[01m[Ktype[m[K’ in ‘[01m[Kstruct std::enable_if<false, void>[m[K’
[1.577s]  2579 |     using [01;31m[Kenable_if_t[m[K = typename enable_if<_Cond, _Tp>::type;
[1.577s]       |           [01;31m[K^~~~~~~~~~~[m[K
[1.577s] In file included from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21[m[K,
[1.577s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155[m[K,
[1.577s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.577s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.577s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<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>][m[K’
[1.577s]   325 |   [01;36m[Kpublish[m[K(std::unique_ptr<T, PublishedTypeDeleter> msg)
[1.577s]       |   [01;36m[K^~~~~~~[m[K
[1.577s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:325:3:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.578s] [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:196:27:[m[K [01;36m[Knote: [m[K  ‘[01m[Ksensor_msgs::msg::Joy_<std::allocator<void> >[m[K’ is not derived from ‘[01m[Kstd::unique_ptr<T, std::default_delete<g29_msg::msg::G29Msg_<std::allocator<void> > > >[m[K’
[1.578s]   196 |     [01;36m[Kg29_publisher->publish(message)[m[K;
[1.578s]       |     [01;36m[K~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~[m[K
[1.578s] In file included from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/subscription.hpp:50[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:25[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21[m[K,
[1.578s]                  from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155[m[K,
[1.578s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.h:25[m[K,
[1.578s]                  from [01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:34[m[K:
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<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>][m[K’
[1.578s]   367 |   [01;36m[Kpublish[m[K(const T & msg)
[1.578s]       |   [01;36m[K^~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:367:3:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:386:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Kvoid 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][m[K’
[1.578s]   386 |   [01;36m[Kpublish[m[K(const rcl_serialized_message_t & serialized_msg)
[1.578s]       |   [01;36m[K^~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:386:44:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Ksensor_msgs::msg::Joy_<std::allocator<void> >[m[K’ to ‘[01m[Kconst rcl_serialized_message_t&[m[K’ {aka ‘[01m[Kconst rcutils_uint8_array_s&[m[K’}
[1.578s]   386 |   publish([01;36m[Kconst rcl_serialized_message_t & serialized_msg[m[K)
[1.578s]       |           [01;36m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:392:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Kvoid rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = g29_msg::msg::G29Msg_<std::allocator<void> >; AllocatorT = std::allocator<void>][m[K’
[1.578s]   392 |   [01;36m[Kpublish[m[K(const SerializedMessage & serialized_msg)
[1.578s]       |   [01;36m[K^~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:392:37:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Ksensor_msgs::msg::Joy_<std::allocator<void> >[m[K’ to ‘[01m[Kconst rclcpp::SerializedMessage&[m[K’
[1.578s]   392 |   publish([01;36m[Kconst SerializedMessage & serialized_msg[m[K)
[1.578s]       |           [01;36m[K~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:406:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Kvoid 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> >][m[K’
[1.578s]   406 |   [01;36m[Kpublish[m[K(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg)
[1.578s]       |   [01;36m[K^~~~~~~[m[K
[1.578s] [01m[K/opt/ros/humble/include/rclcpp/rclcpp/publisher.hpp:406:64:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Ksensor_msgs::msg::Joy_<std::allocator<void> >[m[K’ to ‘[01m[Krclcpp::LoanedMessage<g29_msg::msg::G29Msg_<std::allocator<void> >, std::allocator<void> >&&[m[K’
[1.578s]   406 | ublish([01;36m[Krclcpp::LoanedMessage<ROSMessageType, AllocatorT> && loaned_msg[m[K)
[1.578s]       |        [01;36m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~[m[K
[1.578s] 
[2.053s] gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
[2.053s] gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
[2.053s] gmake: *** [Makefile:146：all] 错误 2
[2.055s] 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