[0.091s] Invoking command in '/home/firmament/codes/24navigation/build/pointcloud_to_laserscan': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/pointcloud_to_laserscan -- -j8 -l8 [0.231s] [ 20%] Built target laserscan_to_pointcloud [0.254s] [ 40%] Built target pointcloud_to_laserscan_node [0.274s] [ 60%] Built target laserscan_to_pointcloud_node [0.274s] Consolidate compiler generated dependencies of target pointcloud_to_laserscan [0.307s] [ 70%] Building CXX object CMakeFiles/pointcloud_to_laserscan.dir/src/pointcloud_to_laserscan_node.cpp.o [3.603s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp: In constructor ‘pointcloud_to_laserscan::PointCloudToLaserScanNode::PointCloudToLaserScanNode(const rclcpp::NodeOptions&)’: [3.603s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:84:5: error: ‘tf2_ros2’ has not been declared [3.603s] 84 | tf2_ros2::BufferOptions buffer_options; [3.603s] | ^~~~~~~~ [3.611s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:85:5: error: ‘buffer_options’ was not declared in this scope [3.611s] 85 | buffer_options.setTransformTolerance(tolerance_); [3.611s] | ^~~~~~~~~~~~~~ [3.664s] /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)’: [3.664s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:185:60: error: no matching function for call to ‘tf2_ros::Buffer::getLatestCommonTime(std::string&, const _frame_id_type&)’ [3.664s] 185 | tf2::TimePoint transform_time = tf2_->getLatestCommonTime(target_frame_,cloud_msg->header.frame_id); [3.664s] | ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.664s] In file included from /opt/ros/humble/include/tf2_ros/tf2_ros/async_buffer_interface.h:39, [3.664s] from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h:41, [3.664s] from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:50, [3.665s] from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: [3.665s] /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’ [3.665s] 422 | tf2::TF2Error getLatestCommonTime( [3.665s] | ^~~~~~~~~~~~~~~~~~~ [3.665s] /opt/ros/humble/include/tf2/tf2/buffer_core.h:422:17: note:  candidate expects 4 arguments, 2 provided [3.665s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:186:38: error: no matching function for call to ‘toMsg(tf2::TimePoint&)’ [3.665s] 186 | scan_msg->header.stamp = tf2::toMsg(transform_time); [3.665s] | ~~~~~~~~~~^~~~~~~~~~~~~~~~ [3.665s] In file included from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer_interface.h:43, [3.665s] from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h:42, [3.665s] from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_node.hpp:50, [3.665s] from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:41: [3.665s] /opt/ros/humble/include/tf2/tf2/convert.h:129:3: note: candidate: ‘template B tf2::toMsg(const A&)’ [3.665s] 129 | B toMsg(const A & a); [3.665s] | ^~~~~ [3.665s] /opt/ros/humble/include/tf2/tf2/convert.h:129:3: note:  template argument deduction/substitution failed: [3.665s] /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:186:38: note:  couldn’t deduce template parameter ‘B’ [3.665s] 186 | scan_msg->header.stamp = tf2::toMsg(transform_time); [3.665s] | ~~~~~~~~~~^~~~~~~~~~~~~~~~ [3.665s] In file included from /home/firmament/codes/24navigation/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp:52: [3.665s] /opt/ros/humble/include/tf2_sensor_msgs/tf2_sensor_msgs.hpp:119:31: note: candidate: ‘sensor_msgs::msg::PointCloud2 tf2::toMsg(const PointCloud2&)’ [3.665s] 119 | sensor_msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in) [3.665s] | ^~~~~ [3.665s] /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_ >&’} [3.665s] 119 | _msgs::msg::PointCloud2 toMsg(const sensor_msgs::msg::PointCloud2 & in) [3.665s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~ [3.665s] [6.196s] gmake[2]: *** [CMakeFiles/pointcloud_to_laserscan.dir/build.make:76: CMakeFiles/pointcloud_to_laserscan.dir/src/pointcloud_to_laserscan_node.cpp.o] Error 1 [6.196s] gmake[1]: *** [CMakeFiles/Makefile2:197: CMakeFiles/pointcloud_to_laserscan.dir/all] Error 2 [6.196s] gmake: *** [Makefile:146: all] Error 2 [6.197s] Invoked command in '/home/firmament/codes/24navigation/build/pointcloud_to_laserscan' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/pointcloud_to_laserscan -- -j8 -l8