Consolidate compiler generated dependencies of target decision_move_node
[ 50%] Building CXX object CMakeFiles/decision_move_node.dir/src/decision_move_node.cpp.o
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription_base.hpp:32,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:29,
                 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:
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int8_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:65:   required from here
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25: error: no match for ‘operator=’ (operand types are ‘rclcpp::detail::AnySubscriptionCallbackHelper<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void>, false>::variant_type’ {aka ‘std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >’} and ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int8_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>’})
  394 |       callback_variant_ = static_cast<typename scbth::callback_type>(callback);
      |       ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:28,
                 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:
/usr/include/c++/11/variant:1461:9: note: candidate: ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<_Types>&> std::variant<_Types>::operator=(_Tp&&) [with _Tp = _Tp; _Types = {std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1461 |         operator=(_Tp&& __rhs)
      |         ^~~~~~~~
/usr/include/c++/11/variant:1461:9: note:   template argument deduction/substitution failed:
/usr/include/c++/11/variant: In substitution of ‘template<class ... _Types> template<class _Tp, class> using __accepted_type = std::variant<_Types>::__to_type<__accepted_index<_Tp> > [with _Tp = std::function<void(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>&&; <template-parameter-2-2> = void; _Types = {std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’:
/usr/include/c++/11/variant:1457:14:   required by substitution of ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&> std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::operator=<_Tp>(_Tp&&) [with _Tp = std::function<void(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>]’
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25:   required from ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int8_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:65:   required from here
/usr/include/c++/11/variant:1375:15: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
 1375 |         using __accepted_type = __to_type<__accepted_index<_Tp>>;
      |               ^~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int8_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int8_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int8_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int8_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int8_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:121:65:   required from here
/usr/include/c++/11/variant:1398:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(const std::variant<_Types>&) [with _Types = {std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1398 |       variant& operator=(const variant&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1398:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int8_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>’} to ‘const std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&’
 1398 |       variant& operator=(const variant&) = default;
      |                          ^~~~~~~~~~~~~~
/usr/include/c++/11/variant:1399:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(std::variant<_Types>&&) [with _Types = {std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1399 |       variant& operator=(variant&&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1399:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int8_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >&)>’} to ‘std::variant<std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int8_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int8_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int8_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int8_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int8_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&&’
 1399 |       variant& operator=(variant&&) = default;
      |                          ^~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription_base.hpp:32,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:29,
                 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:
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int16_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:124:67:   required from here
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25: error: no match for ‘operator=’ (operand types are ‘rclcpp::detail::AnySubscriptionCallbackHelper<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void>, false>::variant_type’ {aka ‘std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >’} and ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int16_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>’})
  394 |       callback_variant_ = static_cast<typename scbth::callback_type>(callback);
      |       ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:28,
                 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:
/usr/include/c++/11/variant:1461:9: note: candidate: ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<_Types>&> std::variant<_Types>::operator=(_Tp&&) [with _Tp = _Tp; _Types = {std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1461 |         operator=(_Tp&& __rhs)
      |         ^~~~~~~~
/usr/include/c++/11/variant:1461:9: note:   template argument deduction/substitution failed:
/usr/include/c++/11/variant: In substitution of ‘template<class ... _Types> template<class _Tp, class> using __accepted_type = std::variant<_Types>::__to_type<__accepted_index<_Tp> > [with _Tp = std::function<void(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>&&; <template-parameter-2-2> = void; _Types = {std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’:
/usr/include/c++/11/variant:1457:14:   required by substitution of ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&> std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::operator=<_Tp>(_Tp&&) [with _Tp = std::function<void(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>]’
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25:   required from ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int16_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:124:67:   required from here
/usr/include/c++/11/variant:1375:15: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
 1375 |         using __accepted_type = __to_type<__accepted_index<_Tp>>;
      |               ^~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; MessageT = std_msgs::msg::Int16_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = std_msgs::msg::Int16_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Int16_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<std_msgs::msg::Int16_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::Int16_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:124:67:   required from here
/usr/include/c++/11/variant:1398:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(const std::variant<_Types>&) [with _Types = {std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1398 |       variant& operator=(const variant&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1398:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int16_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>’} to ‘const std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&’
 1398 |       variant& operator=(const variant&) = default;
      |                          ^~~~~~~~~~~~~~
/usr/include/c++/11/variant:1399:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(std::variant<_Types>&&) [with _Types = {std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1399 |       variant& operator=(variant&&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1399:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<std_msgs::msg::Int16_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >&)>’} to ‘std::variant<std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&)>, std::function<void(const std_msgs::msg::Int16_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<std_msgs::msg::Int16_<std::allocator<void> >, std::default_delete<std_msgs::msg::Int16_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const std_msgs::msg::Int16_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<std_msgs::msg::Int16_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&&’
 1399 |       variant& operator=(variant&&) = default;
      |                          ^~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/subscription_base.hpp:32,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:29,
                 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:
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:127:78:   required from here
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25: error: no match for ‘operator=’ (operand types are ‘rclcpp::detail::AnySubscriptionCallbackHelper<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void>, false>::variant_type’ {aka ‘std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >’} and ‘rclcpp::detail::SubscriptionCallbackTypeHelper<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>’})
  394 |       callback_variant_ = static_cast<typename scbth::callback_type>(callback);
      |       ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:28,
                 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:
/usr/include/c++/11/variant:1461:9: note: candidate: ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<_Types>::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<_Types>&> std::variant<_Types>::operator=(_Tp&&) [with _Tp = _Tp; _Types = {std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1461 |         operator=(_Tp&& __rhs)
      |         ^~~~~~~~
/usr/include/c++/11/variant:1461:9: note:   template argument deduction/substitution failed:
/usr/include/c++/11/variant: In substitution of ‘template<class ... _Types> template<class _Tp, class> using __accepted_type = std::variant<_Types>::__to_type<__accepted_index<_Tp> > [with _Tp = std::function<void(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>&&; <template-parameter-2-2> = void; _Types = {std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’:
/usr/include/c++/11/variant:1457:14:   required by substitution of ‘template<class _Tp> std::enable_if_t<((__exactly_once<std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type> > && is_constructible_v<std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>, _Tp>) && is_assignable_v<std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::__accepted_type<_Tp&&, typename std::enable_if<__not_self<_Tp&&>, void>::type>&, _Tp>), std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&> std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >::operator=<_Tp>(_Tp&&) [with _Tp = std::function<void(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>]’
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:394:25:   required from ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:127:78:   required from here
/usr/include/c++/11/variant:1375:15: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
 1375 |         using __accepted_type = __to_type<__accepted_index<_Tp>>;
      |               ^~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp: In instantiation of ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; AllocatorT = std::allocator<void>]’:
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; CallbackT = std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<void> > >]’
/home/firmament/codes/24navigation/src/sentry_plan_control/plc_bringup/src/decision_move_node.cpp:127:78:   required from here
/usr/include/c++/11/variant:1398:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(const std::variant<_Types>&) [with _Types = {std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1398 |       variant& operator=(const variant&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1398:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>’} to ‘const std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&’
 1398 |       variant& operator=(const variant&) = default;
      |                          ^~~~~~~~~~~~~~
/usr/include/c++/11/variant:1399:16: note: candidate: ‘std::variant<_Types>& std::variant<_Types>::operator=(std::variant<_Types>&&) [with _Types = {std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>}]’
 1399 |       variant& operator=(variant&&) = default;
      |                ^~~~~~~~
/usr/include/c++/11/variant:1399:26: note:   no known conversion for argument 1 from ‘rclcpp::detail::SubscriptionCallbackTypeHelper<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::_Bind<void (*(std::_Placeholder<1>))(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, void>::callback_type’ {aka ‘std::function<void(const std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>’} to ‘std::variant<std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&)>, std::function<void(const geometry_msgs::msg::PoseStamped_<std::allocator<void> >&, const rclcpp::MessageInfo&)>, std::function<void(const rclcpp::SerializedMessage&)>, std::function<void(const rclcpp::SerializedMessage&, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >)>, std::function<void(std::unique_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::default_delete<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >, const rclcpp::MessageInfo&)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >)>, std::function<void(std::unique_ptr<rclcpp::SerializedMessage, std::default_delete<rclcpp::SerializedMessage> >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&)>, std::function<void(const std::shared_ptr<const geometry_msgs::msg::PoseStamped_<std::allocator<void> > >&, const rclcpp::MessageInfo&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&)>, std::function<void(const std::shared_ptr<const rclcpp::SerializedMessage>&, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<geometry_msgs::msg::PoseStamped_<std::allocator<void> > >, const rclcpp::MessageInfo&)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo&)> >&&’
 1399 |       variant& operator=(variant&&) = default;
      |                          ^~~~~~~~~
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