/home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp: In constructor ‘pointcloud_to_laserscan::PointCloudToLaserScanNode::PointCloudToLaserScanNode(const rclcpp::NodeOptions&)’: /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:84:91: error: no matching function for call to ‘rclcpp::Duration::Duration(double&)’ 84 | nique(this->get_clock(),rclcpp::Duration(tolerance_)); | ^ In file included from /opt/ros/humble/include/rclcpp/rclcpp/qos.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_graph_interface.hpp:32, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:42, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /opt/ros/humble/include/message_filters/message_filters/subscriber.h:40, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:49, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:48:3: note: candidate: ‘template rclcpp::Duration::Duration(const std::chrono::duration<_Rep1, _Period1>&)’ 48 | Duration(const std::chrono::duration & duration) // NOLINT(runtime/explicit) | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:48:3: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:84:91: note:  mismatched types ‘const std::chrono::duration<_Rep1, _Period1>’ and ‘double’ 84 | nique(this->get_clock(),rclcpp::Duration(tolerance_)); | ^ In file included from /opt/ros/humble/include/rclcpp/rclcpp/qos.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_graph_interface.hpp:32, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:42, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /opt/ros/humble/include/message_filters/message_filters/subscriber.h:40, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:49, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:151:3: note: candidate: ‘rclcpp::Duration::Duration()’ 151 | Duration() = default; | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:151:3: note:  candidate expects 0 arguments, 1 provided /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:61:3: note: candidate: ‘rclcpp::Duration::Duration(const rclcpp::Duration&)’ 61 | Duration(const Duration & rhs); | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:61:29: note:  no known conversion for argument 1 from ‘double’ to ‘const rclcpp::Duration&’ 61 | Duration(const Duration & rhs); | ~~~~~~~~~~~~~~~~~^~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:59:12: note: candidate: ‘rclcpp::Duration::Duration(const rcl_duration_t&)’ 59 | explicit Duration(const rcl_duration_t & duration); | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:59:44: note:  no known conversion for argument 1 from ‘double’ to ‘const rcl_duration_t&’ {aka ‘const rcl_duration_s&’} 59 | explicit Duration(const rcl_duration_t & duration); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:53:3: note: candidate: ‘rclcpp::Duration::Duration(const Duration&)’ 53 | Duration(const builtin_interfaces::msg::Duration & duration_msg); // NOLINT(runtime/explicit) | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:53:54: note:  no known conversion for argument 1 from ‘double’ to ‘const Duration&’ {aka ‘const builtin_interfaces::msg::Duration_ >&’} 53 | Duration(const builtin_interfaces::msg::Duration & duration_msg); // NOLINT(runtime/explicit) | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:42:12: note: candidate: ‘rclcpp::Duration::Duration(std::chrono::nanoseconds)’ 42 | explicit Duration(std::chrono::nanoseconds nanoseconds); | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:42:46: note:  no known conversion for argument 1 from ‘double’ to ‘std::chrono::nanoseconds’ {aka ‘std::chrono::duration >’} 42 | explicit Duration(std::chrono::nanoseconds nanoseconds); | ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:39:3: note: candidate: ‘rclcpp::Duration::Duration(int32_t, uint32_t)’ 39 | Duration(int32_t seconds, uint32_t nanoseconds); | ^~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/duration.hpp:39:3: note:  candidate expects 2 arguments, 1 provided /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp: In member function ‘void pointcloud_to_laserscan::PointCloudToLaserScanNode::cloudCallback(sensor_msgs::msg::PointCloud2_ >::ConstSharedPtr)’: /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:183:60: error: no matching function for call to ‘tf2_ros::Buffer::getLatestCommonTime(std::string&, const _frame_id_type&)’ 183 | tf2::TimePoint transform_time = tf2_->getLatestCommonTime(target_frame_,cloud_msg->header.frame_id); | ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/tf2_ros/tf2_ros/async_buffer_interface.h:39, from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h:41, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:50, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: /opt/ros/humble/include/tf2/tf2/buffer_core.h:422:17: note: candidate: ‘tf2::TF2Error tf2::BufferCore::getLatestCommonTime(tf2::CompactFrameID, tf2::CompactFrameID, tf2::TimePoint&, std::string*) const’ 422 | tf2::TF2Error getLatestCommonTime( | ^~~~~~~~~~~~~~~~~~~ /opt/ros/humble/include/tf2/tf2/buffer_core.h:422:17: note:  candidate expects 4 arguments, 2 provided /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:184:38: error: no matching function for call to ‘toMsg(tf2::TimePoint&)’ 184 | scan_msg->header.stamp = tf2::toMsg(transform_time); | ~~~~~~~~~~^~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer_interface.h:43, from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h:42, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:50, from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: /opt/ros/humble/include/tf2/tf2/convert.h:129:3: note: candidate: ‘template B tf2::toMsg(const A&)’ 129 | B toMsg(const A & a); | ^~~~~ /opt/ros/humble/include/tf2/tf2/convert.h:129:3: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:184:38: note:  couldn’t deduce template parameter ‘B’ 184 | scan_msg->header.stamp = tf2::toMsg(transform_time); | ~~~~~~~~~~^~~~~~~~~~~~~~~~ In file included from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:52: /opt/ros/humble/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp:119:31: note: candidate: ‘sensor_msgs::msg::PointCloud2 tf2::toMsg(const PointCloud2&)’ 119 | sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in) | ^~~~~ /opt/ros/humble/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp:119:75: note:  no known conversion for argument 1 from ‘tf2::TimePoint’ {aka ‘std::chrono::time_point > >’} to ‘const PointCloud2&’ {aka ‘const sensor_msgs::msg::PointCloud2_ >&’} 119 | _msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in) | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~ gmake[2]: *** [CMakeFiles/pointcloud_to_laserscan.dir/build.make:76: CMakeFiles/pointcloud_to_laserscan.dir/src/pointcloud_to_laserscan_node.cpp.o] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:197: CMakeFiles/pointcloud_to_laserscan.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2