[0.014s] Invoking command in '/home/firmament/codes/24navigation/build/fast_lio': CMAKE_PREFIX_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2:/home/firmament/codes/24navigation/install/rm_vision_bringup:/home/firmament/codes/24navigation/install/rm_urdf_ff:/home/firmament/codes/24navigation/install/rm_serial_driver:/home/firmament/codes/24navigation/install/rm_gimbal_description:/home/firmament/codes/24navigation/install/rm_auto_aim:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan:/home/firmament/codes/24navigation/install/plc_bringup:/home/firmament/codes/24navigation/install/pcdmap2pgm:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller:/home/firmament/codes/24navigation/install/mindvision_camera:/home/firmament/codes/24navigation/install/icp_registration:/home/firmament/codes/24navigation/install/fast_lio:/home/firmament/codes/24navigation/install/linefit_ground_segmentation_ros:/home/firmament/codes/24navigation/install/linefit_ground_segmentation:/home/firmament/codes/24navigation/install/imu_complementary_filter:/home/firmament/codes/24navigation/install/icp_localization_ros2:/home/firmament/codes/24navigation/install/hik_camera:/home/firmament/codes/24navigation/install/armor_tracker:/home/firmament/codes/24navigation/install/armor_detector:/home/firmament/codes/24navigation/install/auto_aim_interfaces:/opt/ros/humble LD_LIBRARY_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/home/firmament/codes/24navigation/install/rm_serial_driver/lib:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan/lib:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller/lib:/home/firmament/codes/24navigation/install/mindvision_camera/lib:/home/firmament/codes/24navigation/install/icp_registration/lib:/home/firmament/codes/24navigation/install/fast_lio/lib:/home/firmament/codes/24navigation/install/linefit_ground_segmentation/lib:/home/firmament/codes/24navigation/install/imu_complementary_filter/lib:/home/firmament/codes/24navigation/install/hik_camera/lib:/home/firmament/codes/24navigation/install/armor_tracker/lib:/home/firmament/codes/24navigation/install/armor_detector/lib:/home/firmament/codes/24navigation/install/auto_aim_interfaces/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/opt/MVS/lib/64:/opt/MVS/lib/32 /usr/bin/cmake --build /home/firmament/codes/24navigation/build/fast_lio -- -j8 -l8 [0.073s] [ 2%] Built target fast_lio__cpp [0.075s] [ 11%] Built target fast_lio__rosidl_generator_c [0.083s] [ 11%] Built target ament_cmake_python_symlink_fast_lio [0.111s] [ 20%] Built target fast_lio__rosidl_typesupport_fastrtps_cpp [0.111s] [ 28%] Built target fast_lio__rosidl_typesupport_cpp [0.112s] [ 37%] Built target fast_lio__rosidl_typesupport_introspection_cpp [0.123s] [ 45%] Built target fast_lio__rosidl_typesupport_c [0.125s] [ 54%] Built target fast_lio__rosidl_typesupport_fastrtps_c [0.125s] [ 62%] Built target fast_lio__rosidl_typesupport_introspection_c [0.151s] [ 62%] Built target fast_lio [0.171s] [ 65%] Building CXX object CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o [0.177s] [ 68%] Built target fast_lio__py [0.206s] [ 74%] Built target fast_lio__rosidl_generator_py [0.238s] [ 80%] Built target fast_lio__rosidl_typesupport_fastrtps_c__pyext [0.243s] [ 85%] Built target fast_lio__rosidl_typesupport_c__pyext [0.248s] [ 91%] Built target fast_lio__rosidl_typesupport_introspection_c__pyext [0.342s] running egg_info [0.344s] writing fast_lio.egg-info/PKG-INFO [0.345s] writing dependency_links to fast_lio.egg-info/dependency_links.txt [0.346s] writing top-level names to fast_lio.egg-info/top_level.txt [0.350s] reading manifest file 'fast_lio.egg-info/SOURCES.txt' [0.351s] writing manifest file 'fast_lio.egg-info/SOURCES.txt' [0.392s] [ 91%] Built target ament_cmake_python_build_fast_lio_egg [5.253s] In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22, [5.253s] from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23, [5.253s] from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14, [5.253s] from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42, [5.253s] from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25, [5.253s] from /usr/include/boost/smart_ptr/shared_ptr.hpp:29, [5.253s] from /usr/include/boost/shared_ptr.hpp:17, [5.253s] from /usr/include/boost/date_time/microsec_time_clock.hpp:18, [5.253s] from /usr/include/boost/interprocess/detail/posix_time_types_wrk.hpp:31, [5.253s] from /usr/include/boost/interprocess/detail/os_thread_functions.hpp:36, [5.253s] from /usr/include/boost/interprocess/sync/file_lock.hpp:26, [5.253s] from /usr/include/pcl-1.12/pcl/io/pcd_io.h:46, [5.253s] from /opt/ros/humble/include/pcl_conversions/pcl_conversions.h:72, [5.254s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/IMU_Processing.hpp:18, [5.254s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:47: [5.254s] /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 + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’ [5.254s] 36 | BOOST_PRAGMA_MESSAGE( [5.254s] | ^~~~~~~~~~~~~~~~~~~~ [6.374s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In function ‘void publish_odometry(rclcpp::Publisher > >::SharedPtr, std::unique_ptr&)’: [6.374s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:662:5: error: ‘lidar2baselink’ was not declared in this scope [6.374s] 662 | lidar2baselink = std::make_unique(*this); [6.374s] | ^~~~~~~~~~~~~~ [6.374s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:662:71: error: invalid use of ‘this’ in non-member function [6.374s] 662 | idar2baselink = std::make_unique(*this); [6.374s] | ^~~~ [6.374s] [6.374s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:672:5: error: ‘tf2’ has not been declared [6.374s] 672 | tf2::Quaternion q; [6.374s] | ^~~ [6.379s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:673:5: error: ‘q’ was not declared in this scope [6.379s] 673 | q.setRPY(3.14, 0, 0); [6.379s] | ^ [40.075s] gmake[2]: *** [CMakeFiles/fastlio_mapping.dir/build.make:76: CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o] Error 1 [40.075s] gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/fastlio_mapping.dir/all] Error 2 [40.075s] gmake: *** [Makefile:146: all] Error 2 [40.077s] Invoked command in '/home/firmament/codes/24navigation/build/fast_lio' returned '2': CMAKE_PREFIX_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2:/home/firmament/codes/24navigation/install/rm_vision_bringup:/home/firmament/codes/24navigation/install/rm_urdf_ff:/home/firmament/codes/24navigation/install/rm_serial_driver:/home/firmament/codes/24navigation/install/rm_gimbal_description:/home/firmament/codes/24navigation/install/rm_auto_aim:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan:/home/firmament/codes/24navigation/install/plc_bringup:/home/firmament/codes/24navigation/install/pcdmap2pgm:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller:/home/firmament/codes/24navigation/install/mindvision_camera:/home/firmament/codes/24navigation/install/icp_registration:/home/firmament/codes/24navigation/install/fast_lio:/home/firmament/codes/24navigation/install/linefit_ground_segmentation_ros:/home/firmament/codes/24navigation/install/linefit_ground_segmentation:/home/firmament/codes/24navigation/install/imu_complementary_filter:/home/firmament/codes/24navigation/install/icp_localization_ros2:/home/firmament/codes/24navigation/install/hik_camera:/home/firmament/codes/24navigation/install/armor_tracker:/home/firmament/codes/24navigation/install/armor_detector:/home/firmament/codes/24navigation/install/auto_aim_interfaces:/opt/ros/humble LD_LIBRARY_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/home/firmament/codes/24navigation/install/rm_serial_driver/lib:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan/lib:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller/lib:/home/firmament/codes/24navigation/install/mindvision_camera/lib:/home/firmament/codes/24navigation/install/icp_registration/lib:/home/firmament/codes/24navigation/install/fast_lio/lib:/home/firmament/codes/24navigation/install/linefit_ground_segmentation/lib:/home/firmament/codes/24navigation/install/imu_complementary_filter/lib:/home/firmament/codes/24navigation/install/hik_camera/lib:/home/firmament/codes/24navigation/install/armor_tracker/lib:/home/firmament/codes/24navigation/install/armor_detector/lib:/home/firmament/codes/24navigation/install/auto_aim_interfaces/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/opt/MVS/lib/64:/opt/MVS/lib/32 /usr/bin/cmake --build /home/firmament/codes/24navigation/build/fast_lio -- -j8 -l8