wld
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LG


			
				
					
						
						
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							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:
[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’:
[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]
   56 |     std::string [01;35m[Kfilename[m[K;  // 设备文件名
      |                 [01;35m[K^~~~~~~~[m[K
[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]
   40 |     : filename(filename), Node(node_name[01;35m[K)[m[K // 初始化成员变量 filename
      |                                         [01;35m[K^[m[K
[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]
   39 | [01;35m[KJoystick_pub[m[K::Joystick_pub(const std::string &filename, const std::string &node_name)
      | [01;35m[K^~~~~~~~~~~~[m[K
[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’)
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;31m[K)[m[K;
      |                                                                      [01;31m[K^[m[K

In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
                 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,
                 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:
[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’
  363 |         [01;36m[Koperator[m[K=(const shared_ptr<_Yp>& __r) noexcept
      |         [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/shared_ptr.h:363:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
/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’:
[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’
[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
[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’
  130 |         using [01;31m[K_Assignable[m[K = typename enable_if<
      |               [01;31m[K^~~~~~~~~~~[m[K
[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’
  374 |         [01;36m[Koperator[m[K=(auto_ptr<_Yp>&& __r)
      |         [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/shared_ptr.h:374:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[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’
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;36m[K)[m[K;
      |                                                                      [01;36m[K^[m[K

In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
                 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,
                 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:
[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’
  391 |         [01;36m[Koperator[m[K=(shared_ptr<_Yp>&& __r) noexcept
      |         [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/shared_ptr.h:391:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
/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’:
[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’
[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
[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’
  130 |         using [01;31m[K_Assignable[m[K = typename enable_if<
      |               [01;31m[K^~~~~~~~~~~[m[K
[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’
  399 |         [01;36m[Koperator[m[K=(unique_ptr<_Yp, _Del>&& __r)
      |         [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/shared_ptr.h:399:9:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[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’
   91 | er = this->create_publisher<sensor_msgs::msg::Joy>("g29_feedback", 10[01;36m[K)[m[K;
      |                                                                      [01;36m[K^[m[K

In file included from [01m[K/usr/include/c++/11/memory:77[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153[m[K,
                 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,
                 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:
[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’
  359 |       shared_ptr& [01;36m[Koperator[m[K=(const shared_ptr&) noexcept = default;
      |                   [01;36m[K^~~~~~~~[m[K
[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’
  359 |       shared_ptr& operator=([01;36m[Kconst shared_ptr&[m[K) noexcept = default;
      |                             [01;36m[K^~~~~~~~~~~~~~~~~[m[K
[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’
  383 |       [01;36m[Koperator[m[K=(shared_ptr&& __r) noexcept
      |       [01;36m[K^~~~~~~~[m[K
[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’
  383 |       operator=([01;36m[Kshared_ptr&& __r[m[K) noexcept
      |                 [01;36m[K~~~~~~~~~~~~~^~~[m[K
[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’:
[01m[K/home/wub/work/1_nzzn/2_code/13_LG/src/Drive/g29_ros2_feedback_drive/src/g29_ros2_feedback/src/joystick.cpp:159:38:[m[K [01;31m[Kerror: [m[K‘[01m[Kjoy[m[K’ is not a member of ‘[01m[Ksensor_msgs::msg[m[K’; did you mean ‘[01m[KJoy[m[K’?
  159 |     auto message = sensor_msgs::msg::[01;31m[Kjoy[m[K();
      |                                      [01;31m[K^~~[m[K
      |                                      [32m[KJoy[m[K
gmake[2]: *** [CMakeFiles/g29_ros2_feedback_node.dir/build.make:90：CMakeFiles/g29_ros2_feedback_node.dir/src/joystick.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/g29_ros2_feedback_node.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2