[  2%] Built target fast_lio__cpp
[ 11%] Built target fast_lio__rosidl_generator_c
[ 11%] Built target ament_cmake_python_symlink_fast_lio
[ 20%] Built target fast_lio__rosidl_typesupport_fastrtps_cpp
[ 28%] Built target fast_lio__rosidl_typesupport_cpp
[ 37%] Built target fast_lio__rosidl_typesupport_introspection_cpp
[ 45%] Built target fast_lio__rosidl_typesupport_c
[ 54%] Built target fast_lio__rosidl_typesupport_fastrtps_c
[ 62%] Built target fast_lio__rosidl_typesupport_introspection_c
[ 62%] Built target fast_lio
[ 65%] Building CXX object CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o
[ 68%] Built target fast_lio__py
[ 74%] Built target fast_lio__rosidl_generator_py
[ 80%] Built target fast_lio__rosidl_typesupport_fastrtps_c__pyext
[ 85%] Built target fast_lio__rosidl_typesupport_c__pyext
[ 91%] Built target fast_lio__rosidl_typesupport_introspection_c__pyext
running egg_info
writing fast_lio.egg-info/PKG-INFO
writing dependency_links to fast_lio.egg-info/dependency_links.txt
writing top-level names to fast_lio.egg-info/top_level.txt
reading manifest file 'fast_lio.egg-info/SOURCES.txt'
writing manifest file 'fast_lio.egg-info/SOURCES.txt'
[ 91%] Built target ament_cmake_python_build_fast_lio_egg
In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22,
                 from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23,
                 from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14,
                 from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42,
                 from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25,
                 from /usr/include/boost/smart_ptr/shared_ptr.hpp:29,
                 from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/date_time/microsec_time_clock.hpp:18,
                 from /usr/include/boost/interprocess/detail/posix_time_types_wrk.hpp:31,
                 from /usr/include/boost/interprocess/detail/os_thread_functions.hpp:36,
                 from /usr/include/boost/interprocess/sync/file_lock.hpp:26,
                 from /usr/include/pcl-1.12/pcl/io/pcd_io.h:46,
                 from /opt/ros/humble/include/pcl_conversions/pcl_conversions.h:72,
                 from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/IMU_Processing.hpp:18,
                 from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:47:
/usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In function ‘void publish_odometry(rclcpp::Publisher<nav_msgs::msg::Odometry_<std::allocator<void> > >::SharedPtr, std::unique_ptr<tf2_ros::TransformBroadcaster>&)’:
/home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:662:5: error: ‘lidar2baselink’ was not declared in this scope
  662 |     lidar2baselink = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
      |     ^~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:662:71: error: invalid use of ‘this’ in non-member function
  662 | idar2baselink = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
      |                                                                  ^~~~

/home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:672:5: error: ‘tf2’ has not been declared
  672 |     tf2::Quaternion q;
      |     ^~~
/home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:673:5: error: ‘q’ was not declared in this scope
  673 |     q.setRPY(3.14, 0, 0);
      |     ^
gmake[2]: *** [CMakeFiles/fastlio_mapping.dir/build.make:76: CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/fastlio_mapping.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2