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 + 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:634:222: error: expected ‘,’ or ‘...’ before ‘std’ 634 | nique_ptr & lidar2baselink, std::unique_ptr & livox2baselink) | ^~~ /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In function ‘void publish_odometry(rclcpp::Publisher > >::SharedPtr, std::unique_ptr&, std::unique_ptr&)’: /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:684:5: error: ‘lidar2baselink’ was not declared in this scope; did you mean ‘lidar2baselink,’? 684 | lidar2baselink->sendTransform(trans2); | ^~~~~~~~~~~~~~ | lidar2baselink, /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:695:21: error: redeclaration of ‘tf2::Quaternion q’ 695 | tf2::Quaternion q; | ^ /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:677:21: note: ‘tf2::Quaternion q’ previously declared here 677 | tf2::Quaternion q; | ^ /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:702:5: error: ‘livox2baselink’ was not declared in this scope; did you mean ‘lidar2baselink,’? 702 | livox2baselink->sendTransform(trans3); | ^~~~~~~~~~~~~~ | lidar2baselink, /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In constructor ‘LaserMappingNode::LaserMappingNode(const rclcpp::NodeOptions&)’: /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:985:9: error: ‘livox2baselink_’ was not declared in this scope; did you mean ‘lidar2baselink_’? 985 | livox2baselink_ = std::make_unique(*this); | ^~~~~~~~~~~~~~~ | lidar2baselink_ /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In member function ‘void LaserMappingNode::timer_callback()’: /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:1114:82: error: ‘livox2baselink_’ was not declared in this scope; did you mean ‘lidar2baselink_’? 1114 | dometry(pubOdomAftMapped_, tf_broadcaster_, lidar2baselink_,livox2baselink_); | ^~~~~~~~~~~~~~~ | lidar2baselink_ 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