[ 50%] Building CXX object CMakeFiles/convert_pcd2pgm.dir/src/pcd2pgm.cpp.o /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp: In function ‘int main(int, char**)’: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:86:35: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [15], std::string)’ 86 | node->declare_parameter("map_topic_name", std::string("map")); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:195:1: note: candidate: ‘auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool) [with ParameterT = float; std::string = std::__cxx11::basic_string; rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor_ >]’ 195 | Node::declare_parameter( | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:197:22: note:  no known conversion for argument 2 from ‘std::string’ {aka ‘std::__cxx11::basic_string’} to ‘const float&’ 197 | const ParameterT & default_value, | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:215:1: note: candidate: ‘auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool) [with ParameterT = float; std::string = std::__cxx11::basic_string; rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor_ >]’ 215 | Node::declare_parameter( | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:217:52: note:  no known conversion for argument 2 from ‘std::string’ {aka ‘std::__cxx11::basic_string’} to ‘const ParameterDescriptor&’ {aka ‘const rcl_interfaces::msg::ParameterDescriptor_ >&’} 217 | const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:104:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [11], double&, double)’ 104 | node->get_parameter("thre_z_min", thre_z_min,50.0); // 0.5 changed | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:104:24: note:  candidate expects 2 arguments, 3 provided 104 | node->get_parameter("thre_z_min", thre_z_min,50.0); // 0.5 changed | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:105:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [11], double&, double)’ 105 | node->get_parameter("thre_z_max", thre_z_max,10.0); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:105:24: note:  candidate expects 2 arguments, 3 provided 105 | node->get_parameter("thre_z_max", thre_z_max,10.0); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:106:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [18], int&, int)’ 106 | node->get_parameter("flag_pass_through", flag_pass_through, 1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:106:24: note:  candidate expects 2 arguments, 3 provided 106 | node->get_parameter("flag_pass_through", flag_pass_through, 1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:107:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ 107 | node->get_parameter("grid_x", grid_x, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:107:24: note:  candidate expects 2 arguments, 3 provided 107 | node->get_parameter("grid_x", grid_x, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:108:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ 108 | node->get_parameter("grid_y", grid_y, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:108:24: note:  candidate expects 2 arguments, 3 provided 108 | node->get_parameter("grid_y", grid_y, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:109:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ 109 | node->get_parameter("grid_z", grid_z, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:109:24: note:  candidate expects 2 arguments, 3 provided 109 | node->get_parameter("grid_z", grid_z, 0.1); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:110:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [12], double&, double)’ 110 | node->get_parameter("thre_radius", thre_radius, 0.05); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:110:24: note:  candidate expects 2 arguments, 3 provided 110 | node->get_parameter("thre_radius", thre_radius, 0.05); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:111:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [18], int&, int)’ 111 | node->get_parameter("thres_point_count", thres_point_count, 10); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:111:24: note:  candidate expects 2 arguments, 3 provided 111 | node->get_parameter("thres_point_count", thres_point_count, 10); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:112:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [15], double&, double)’ 112 | node->get_parameter("map_resolution", map_resolution, 0.04); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const | ^~~~ /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:112:24: note:  candidate expects 2 arguments, 3 provided 112 | node->get_parameter("map_resolution", map_resolution, 0.04); | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ 647 | get_parameter(const std::string & name) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; | ^~~~~~~~~~~~~ /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided gmake[2]: *** [CMakeFiles/convert_pcd2pgm.dir/build.make:76: CMakeFiles/convert_pcd2pgm.dir/src/pcd2pgm.cpp.o] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/convert_pcd2pgm.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2