/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:34:50: error: ‘Int8ConstPtr’ in namespace ‘std_msgs::msg’ does not name a type
   34 | void game_progress_callback(const std_msgs::msg::Int8ConstPtr& game_pro)
      |                                                  ^~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: In function ‘void game_progress_callback(const int&)’:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:37:27: error: base operand of ‘->’ is not a pointer
   37 |    game_process = game_pro->data;
      |                           ^~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: At global scope:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:46:46: error: ‘Int16ConstPtr’ in namespace ‘std_msgs::msg’ does not name a type
   46 | void outposthp_callback(const std_msgs::msg::Int16ConstPtr& outpost_hp)
      |                                              ^~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: In function ‘void outposthp_callback(const int&)’:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:49:30: error: base operand of ‘->’ is not a pointer
   49 |    my_outpost_hp = outpost_hp->data;
      |                              ^~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: At global scope:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:57:51: error: ‘PoseStampedPtr’ in namespace ‘geometry_msgs::msg’ does not name a type; did you mean ‘PoseStamped_’?
   57 | void arial_cmd_callback(const geometry_msgs::msg::PoseStampedPtr& arial_cmd)
      |                                                   ^~~~~~~~~~~~~~
      |                                                   PoseStamped_
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: In function ‘void arial_cmd_callback(const int&)’:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:59:24: error: base operand of ‘->’ is not a pointer
   59 |    double x = arial_cmd->pose.position.x;
      |                        ^~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:60:24: error: base operand of ‘->’ is not a pointer
   60 |    double y = arial_cmd->pose.position.y;
      |                        ^~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:16: error: invalid use of ‘this’ in non-member function
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:16: error: invalid use of ‘this’ in non-member function
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:4: error: template argument 1 is invalid
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:4: error: template argument 1 is invalid
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:4: error: template argument 1 is invalid
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |    ^~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:16: error: invalid use of ‘this’ in non-member function
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:70:16: error: invalid use of ‘this’ in non-member function
   70 |    RCLCPP_WARN(this->get_logger(), "Arial CMD Moving to [%f , %f]",x,y);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: In function ‘int main(int, char**)’:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:82:10: error: parse error in template argument list
   82 |    node->declare_parameter<std::int>("my_color", 0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:82:37: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [9], int)’
   82 |    node->declare_parameter<std::int>("my_color", 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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:82:37: error: template argument 1 is invalid
   82 |    node->declare_parameter<std::int>("my_color", 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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:82:37: error: template argument 1 is invalid
   82 |    node->declare_parameter<std::int>("my_color", 0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:83:10: error: parse error in template argument list
   83 |    node->declare_parameter<std::float>("start_point_red_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:83:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [18], double)’
   83 |    node->declare_parameter<std::float>("start_point_red_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:83:39: error: template argument 1 is invalid
   83 |    node->declare_parameter<std::float>("start_point_red_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:83:39: error: template argument 1 is invalid
   83 |    node->declare_parameter<std::float>("start_point_red_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:84:10: error: parse error in template argument list
   84 |    node->declare_parameter<std::float>("start_point_red_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:84:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [18], double)’
   84 |    node->declare_parameter<std::float>("start_point_red_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:84:39: error: template argument 1 is invalid
   84 |    node->declare_parameter<std::float>("start_point_red_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:84:39: error: template argument 1 is invalid
   84 |    node->declare_parameter<std::float>("start_point_red_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:85:10: error: parse error in template argument list
   85 |    node->declare_parameter<std::float>("start_point_blue_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:85:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [19], double)’
   85 |    node->declare_parameter<std::float>("start_point_blue_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:85:39: error: template argument 1 is invalid
   85 |    node->declare_parameter<std::float>("start_point_blue_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:85:39: error: template argument 1 is invalid
   85 |    node->declare_parameter<std::float>("start_point_blue_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:86:10: error: parse error in template argument list
   86 |    node->declare_parameter<std::float>("start_point_blue_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:86:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [19], double)’
   86 |    node->declare_parameter<std::float>("start_point_blue_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:86:39: error: template argument 1 is invalid
   86 |    node->declare_parameter<std::float>("start_point_blue_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:86:39: error: template argument 1 is invalid
   86 |    node->declare_parameter<std::float>("start_point_blue_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:87:10: error: parse error in template argument list
   87 |    node->declare_parameter<std::float>("red_attack_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:87:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [13], double)’
   87 |    node->declare_parameter<std::float>("red_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:87:39: error: template argument 1 is invalid
   87 |    node->declare_parameter<std::float>("red_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:87:39: error: template argument 1 is invalid
   87 |    node->declare_parameter<std::float>("red_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:88:10: error: parse error in template argument list
   88 |    node->declare_parameter<std::float>("red_attack_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:88:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [13], double)’
   88 |    node->declare_parameter<std::float>("red_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:88:39: error: template argument 1 is invalid
   88 |    node->declare_parameter<std::float>("red_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:88:39: error: template argument 1 is invalid
   88 |    node->declare_parameter<std::float>("red_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:89:10: error: parse error in template argument list
   89 |    node->declare_parameter<std::float>("blue_attack_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:89:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [14], double)’
   89 |    node->declare_parameter<std::float>("blue_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:89:39: error: template argument 1 is invalid
   89 |    node->declare_parameter<std::float>("blue_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:89:39: error: template argument 1 is invalid
   89 |    node->declare_parameter<std::float>("blue_attack_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:90:10: error: parse error in template argument list
   90 |    node->declare_parameter<std::float>("blue_attack_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:90:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [14], double)’
   90 |    node->declare_parameter<std::float>("blue_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:90:39: error: template argument 1 is invalid
   90 |    node->declare_parameter<std::float>("blue_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:90:39: error: template argument 1 is invalid
   90 |    node->declare_parameter<std::float>("blue_attack_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:91:10: error: parse error in template argument list
   91 |    node->declare_parameter<std::float>("red_defense_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:91:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [14], double)’
   91 |    node->declare_parameter<std::float>("red_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:91:39: error: template argument 1 is invalid
   91 |    node->declare_parameter<std::float>("red_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:91:39: error: template argument 1 is invalid
   91 |    node->declare_parameter<std::float>("red_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:92:10: error: parse error in template argument list
   92 |    node->declare_parameter<std::float>("red_defense_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:92:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [14], double)’
   92 |    node->declare_parameter<std::float>("red_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:92:39: error: template argument 1 is invalid
   92 |    node->declare_parameter<std::float>("red_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:92:39: error: template argument 1 is invalid
   92 |    node->declare_parameter<std::float>("red_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:93:10: error: parse error in template argument list
   93 |    node->declare_parameter<std::float>("blue_defense_x", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:93:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [15], double)’
   93 |    node->declare_parameter<std::float>("blue_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:93:39: error: template argument 1 is invalid
   93 |    node->declare_parameter<std::float>("blue_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:93:39: error: template argument 1 is invalid
   93 |    node->declare_parameter<std::float>("blue_defense_x", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:94:10: error: parse error in template argument list
   94 |    node->declare_parameter<std::float>("blue_defense_y", 0.0);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:94:39: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [15], double)’
   94 |    node->declare_parameter<std::float>("blue_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:94:39: error: template argument 1 is invalid
   94 |    node->declare_parameter<std::float>("blue_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:94:39: error: template argument 1 is invalid
   94 |    node->declare_parameter<std::float>("blue_defense_y", 0.0);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:95:10: error: parse error in template argument list
   95 |    node->declare_parameter<std::bool>("attack", true);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:95:38: error: no matching function for call to ‘rclcpp::Node::declare_parameter<<expression error> >(const char [7], bool)’
   95 |    node->declare_parameter<std::bool>("attack", true);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:95:38: error: template argument 1 is invalid
   95 |    node->declare_parameter<std::bool>("attack", true);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:95:38: error: template argument 1 is invalid
   95 |    node->declare_parameter<std::bool>("attack", true);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:98:10: error: parse error in template argument list
   98 |    node->get_parameter<std::int>("my_color", mycolor);
      |          ^~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:98:33: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [9], int&)’
   98 |    node->get_parameter<std::int>("my_color", mycolor);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:98:33: error: template argument 1 is invalid
   98 |    node->get_parameter<std::int>("my_color", mycolor);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:99:10: error: parse error in template argument list
   99 |    node->get_parameter<std::float>("start_point_red_x", start_point_red_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:99:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [18], double&)’
   99 |    node->get_parameter<std::float>("start_point_red_x", start_point_red_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:99:35: error: template argument 1 is invalid
   99 |    node->get_parameter<std::float>("start_point_red_x", start_point_red_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:100:10: error: parse error in template argument list
  100 |    node->get_parameter<std::float>("start_point_red_y", start_point_red_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:100:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [18], double&)’
  100 |    node->get_parameter<std::float>("start_point_red_y", start_point_red_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:100:35: error: template argument 1 is invalid
  100 |    node->get_parameter<std::float>("start_point_red_y", start_point_red_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:101:10: error: parse error in template argument list
  101 |    node->get_parameter<std::float>("start_point_blue_x", start_point_blue_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:101:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [19], double&)’
  101 |    node->get_parameter<std::float>("start_point_blue_x", start_point_blue_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:101:35: error: template argument 1 is invalid
  101 |    node->get_parameter<std::float>("start_point_blue_x", start_point_blue_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:102:10: error: parse error in template argument list
  102 |    node->get_parameter<std::float>("start_point_blue_y", start_point_blue_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:102:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [19], double&)’
  102 |    node->get_parameter<std::float>("start_point_blue_y", start_point_blue_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:102:35: error: template argument 1 is invalid
  102 |    node->get_parameter<std::float>("start_point_blue_y", start_point_blue_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:103:10: error: parse error in template argument list
  103 |    node->get_parameter<std::float>("red_attack_x", red_attack_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:103:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [13], double&)’
  103 |    node->get_parameter<std::float>("red_attack_x", red_attack_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:103:35: error: template argument 1 is invalid
  103 |    node->get_parameter<std::float>("red_attack_x", red_attack_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:104:10: error: parse error in template argument list
  104 |    node->get_parameter<std::float>("red_attack_y", red_attack_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:104:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [13], double&)’
  104 |    node->get_parameter<std::float>("red_attack_y", red_attack_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:104:35: error: template argument 1 is invalid
  104 |    node->get_parameter<std::float>("red_attack_y", red_attack_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:105:10: error: parse error in template argument list
  105 |    node->get_parameter<std::float>("blue_attack_x", blue_attack_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:105:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [14], double&)’
  105 |    node->get_parameter<std::float>("blue_attack_x", blue_attack_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:105:35: error: template argument 1 is invalid
  105 |    node->get_parameter<std::float>("blue_attack_x", blue_attack_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:106:10: error: parse error in template argument list
  106 |    node->get_parameter<std::float>("blue_attack_y", blue_attack_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:106:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [14], double&)’
  106 |    node->get_parameter<std::float>("blue_attack_y", blue_attack_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:106:35: error: template argument 1 is invalid
  106 |    node->get_parameter<std::float>("blue_attack_y", blue_attack_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:107:10: error: parse error in template argument list
  107 |    node->get_parameter<std::float>("red_defense_x", red_defense_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:107:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [14], double&)’
  107 |    node->get_parameter<std::float>("red_defense_x", red_defense_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:107:35: error: template argument 1 is invalid
  107 |    node->get_parameter<std::float>("red_defense_x", red_defense_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:108:10: error: parse error in template argument list
  108 |    node->get_parameter<std::float>("red_defense_y", red_defense_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:108:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [14], double&)’
  108 |    node->get_parameter<std::float>("red_defense_y", red_defense_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:108:35: error: template argument 1 is invalid
  108 |    node->get_parameter<std::float>("red_defense_y", red_defense_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:109:10: error: parse error in template argument list
  109 |    node->get_parameter<std::float>("blue_defense_x", blue_defense_x);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:109:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [15], double&)’
  109 |    node->get_parameter<std::float>("blue_defense_x", blue_defense_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:109:35: error: template argument 1 is invalid
  109 |    node->get_parameter<std::float>("blue_defense_x", blue_defense_x);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:110:10: error: parse error in template argument list
  110 |    node->get_parameter<std::float>("blue_defense_y", blue_defense_y);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:110:35: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [15], double&)’
  110 |    node->get_parameter<std::float>("blue_defense_y", blue_defense_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:110:35: error: template argument 1 is invalid
  110 |    node->get_parameter<std::float>("blue_defense_y", blue_defense_y);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:111:10: error: parse error in template argument list
  111 |    node->get_parameter<std::bool>("attack", attack);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:111:34: error: no matching function for call to ‘rclcpp::Node::get_parameter<<expression error> >(const char [7], bool&)’
  111 |    node->get_parameter<std::bool>("attack", attack);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
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/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note: candidate: ‘template<class ParameterT> bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’
  683 |   get_parameter(const std::string & name, ParameterT & parameter) const;
      |   ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:683:3: note:   template argument deduction/substitution failed:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:111:34: error: template argument 1 is invalid
  111 |    node->get_parameter<std::bool>("attack", attack);
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:114:15: error: ‘decision_move_node’ was not declared in this scope
  114 |    goal_pub = decision_move_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |               ^~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:114:83: error: expected primary-expression before ‘>’ token
  114 | _move_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |                                                             ^

/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:114:85: error: left operand of comma operator has no effect []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Werror=unused-value]8;;]
  114 | ove_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |                                                             ^~~~~~~~~~~~

/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:117:4: error: ‘game_pro_sub’ was not declared in this scope; did you mean ‘game_process’?
  117 |    game_pro_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |    ^~~~~~~~~~~~
      |    game_process
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:117:19: error: invalid use of ‘this’ in non-member function
  117 |    game_pro_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                   ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:117:65: error: ‘Twist’ is not a member of ‘geometry_msgs::msg’
  117 |    game_pro_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                                                                 ^~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:118:3: error: left operand of comma operator has no effect []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Werror=unused-value]8;;]
  118 |   "/game_progress", rclcpp::QoS(10),
      |   ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:119:14: error: ‘DecisionMoveNode’ has not been declared
  119 |   std::bind(&DecisionMoveNode::game_progress_callback, this, std::placeholders::_1));
      |              ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:119:56: error: invalid use of ‘this’ in non-member function
  119 |   std::bind(&DecisionMoveNode::game_progress_callback, this, std::placeholders::_1));
      |                                                        ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:3: error: ‘outposthp_sub’ was not declared in this scope; did you mean ‘outpost_low’?
  121 |   outposthp_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |   ^~~~~~~~~~~~~
      |   outpost_low
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:19: error: invalid use of ‘this’ in non-member function
  121 |   outposthp_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                   ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:65: error: ‘Twist’ is not a member of ‘geometry_msgs::msg’
  121 |   outposthp_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                                                                 ^~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:122:3: error: left operand of comma operator has no effect []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Werror=unused-value]8;;]
  122 |   "/outpost_hp", rclcpp::QoS(10),
      |   ^~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:123:14: error: ‘DecisionMoveNode’ has not been declared
  123 |   std::bind(&DecisionMoveNode::outposthp_callback, this, std::placeholders::_1));
      |              ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:123:52: error: invalid use of ‘this’ in non-member function
  123 |   std::bind(&DecisionMoveNode::outposthp_callback, this, std::placeholders::_1));
      |                                                    ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:125:4: error: ‘arial_cmd_sub’ was not declared in this scope; did you mean ‘arial_cmd_flag’?
  125 |    arial_cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |    ^~~~~~~~~~~~~
      |    arial_cmd_flag
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:125:20: error: invalid use of ‘this’ in non-member function
  125 |    arial_cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                    ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:125:66: error: ‘Twist’ is not a member of ‘geometry_msgs::msg’
  125 |   arial_cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
      |                                                                 ^~~~~

/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:126:3: error: left operand of comma operator has no effect []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Werror=unused-value]8;;]
  126 |   "/arial_cmd", rclcpp::QoS(10),
      |   ^~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:127:14: error: ‘DecisionMoveNode’ has not been declared
  127 |   std::bind(&DecisionMoveNode::arial_cmd_callback, this, std::placeholders::_1));
      |              ^~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:127:52: error: invalid use of ‘this’ in non-member function
  127 |   std::bind(&DecisionMoveNode::arial_cmd_callback, this, std::placeholders::_1));
      |                                                    ^~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:22: error: invalid use of ‘this’ in non-member function
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |                      ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:22: error: invalid use of ‘this’ in non-member function
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:10: error: template argument 1 is invalid
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |          ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:10: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |          ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:10: error: template argument 1 is invalid
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |          ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:10: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |          ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:10: error: template argument 1 is invalid
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |          ^~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:22: error: invalid use of ‘this’ in non-member function
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |                      ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:214:22: error: invalid use of ‘this’ in non-member function
  214 |          RCLCPP_INFO(this->get_logger(), "wating for game start...\n");
      |                      ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:218:24: error: no matching function for call to ‘spin_some()’
  218 |       rclcpp::spin_some();
      |       ~~~~~~~~~~~~~~~~~^~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:35:1: note: candidate: ‘void rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr)’
   35 | spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
      | ^~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:35:1: note:   candidate expects 1 argument, 0 provided
/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:39:1: note: candidate: ‘void rclcpp::spin_some(rclcpp::Node::SharedPtr)’
   39 | spin_some(rclcpp::Node::SharedPtr node_ptr);
      | ^~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:39:1: note:   candidate expects 1 argument, 0 provided
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:132:9: error: unused variable ‘choice’ []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Werror=unused-variable]8;;]
  132 |    char choice = 'q';
      |         ^~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp: In function ‘int moveToGoal_topic(double, double)’:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:16: error: invalid use of ‘this’ in non-member function
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:16: error: invalid use of ‘this’ in non-member function
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:4: error: template argument 1 is invalid
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:4: error: template argument 1 is invalid
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:4: error: template argument 1 is invalid
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |    ^~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:16: error: invalid use of ‘this’ in non-member function
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:240:16: error: invalid use of ‘this’ in non-member function
  240 |    RCLCPP_INFO(this->get_logger(), "Sending goal location ...\n");
      |                ^~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:16: error: invalid use of ‘this’ in non-member function
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:16: error: invalid use of ‘this’ in non-member function
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:4: error: template argument 1 is invalid
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:4: error: template argument 1 is invalid
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:4: error: ‘<declaration error>’ is not a template []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-fpermissive-fpermissive]8;;]
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |    ^~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:4: error: template argument 1 is invalid
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |    ^~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:1:
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:16: error: invalid use of ‘this’ in non-member function
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:241:16: error: invalid use of ‘this’ in non-member function
  241 |    RCLCPP_INFO(this->get_logger(), "Moving to [%f , %f]",xGoal,yGoal);
      |                ^~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:243:15: error: ‘decision_move_node’ was not declared in this scope
  243 |    goal_pub = decision_move_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |               ^~~~~~~~~~~~~~~~~~
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:243:83: error: expected primary-expression before ‘>’ token
  243 | _move_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |                                                             ^

/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:243:85: error: left operand of comma operator has no effect []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-value-Werror=unused-value]8;;]
  243 | ove_node->create_publisher<geometry_msgs::msg::PoseStamped>("/goal_pose", 10);
      |                                                             ^~~~~~~~~~~~

cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/decision_move_node.dir/build.make:76: CMakeFiles/decision_move_node.dir/src/decision_move_node.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/decision_move_node.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2