[0.021s] Invoking command in '/home/firmament/codes/24navigation/build/fast_lio': CMAKE_PREFIX_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2:/home/firmament/codes/24navigation/install/rm_vision_bringup:/home/firmament/codes/24navigation/install/rm_urdf_ff:/home/firmament/codes/24navigation/install/rm_serial_driver:/home/firmament/codes/24navigation/install/rm_gimbal_description:/home/firmament/codes/24navigation/install/rm_auto_aim:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan:/home/firmament/codes/24navigation/install/plc_bringup:/home/firmament/codes/24navigation/install/pcdmap2pgm:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller:/home/firmament/codes/24navigation/install/mindvision_camera:/home/firmament/codes/24navigation/install/icp_registration:/home/firmament/codes/24navigation/install/fast_lio:/home/firmament/codes/24navigation/install/linefit_ground_segmentation_ros:/home/firmament/codes/24navigation/install/linefit_ground_segmentation:/home/firmament/codes/24navigation/install/imu_complementary_filter:/home/firmament/codes/24navigation/install/icp_localization_ros2:/home/firmament/codes/24navigation/install/hik_camera:/home/firmament/codes/24navigation/install/armor_tracker:/home/firmament/codes/24navigation/install/armor_detector:/home/firmament/codes/24navigation/install/auto_aim_interfaces:/opt/ros/humble LD_LIBRARY_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/home/firmament/codes/24navigation/install/rm_serial_driver/lib:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan/lib:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller/lib:/home/firmament/codes/24navigation/install/mindvision_camera/lib:/home/firmament/codes/24navigation/install/icp_registration/lib:/home/firmament/codes/24navigation/install/fast_lio/lib:/home/firmament/codes/24navigation/install/linefit_ground_segmentation/lib:/home/firmament/codes/24navigation/install/imu_complementary_filter/lib:/home/firmament/codes/24navigation/install/hik_camera/lib:/home/firmament/codes/24navigation/install/armor_tracker/lib:/home/firmament/codes/24navigation/install/armor_detector/lib:/home/firmament/codes/24navigation/install/auto_aim_interfaces/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/opt/MVS/lib/64:/opt/MVS/lib/32 /usr/bin/cmake --build /home/firmament/codes/24navigation/build/fast_lio -- -j8 -l8 [0.127s] [ 5%] Built target fast_lio__cpp [0.127s] [ 11%] Built target fast_lio__rosidl_generator_c [0.147s] [ 11%] Built target ament_cmake_python_symlink_fast_lio [0.160s] [ 20%] Built target fast_lio__rosidl_typesupport_cpp [0.164s] [ 28%] Built target fast_lio__rosidl_typesupport_introspection_c [0.166s] [ 37%] Built target fast_lio__rosidl_typesupport_c [0.166s] [ 45%] Built target fast_lio__rosidl_typesupport_fastrtps_c [0.166s] [ 54%] Built target fast_lio__rosidl_typesupport_introspection_cpp [0.175s] [ 62%] Built target fast_lio__rosidl_typesupport_fastrtps_cpp [0.188s] Consolidate compiler generated dependencies of target fastlio_mapping [0.203s] [ 62%] Built target fast_lio [0.232s] [ 65%] Built target fast_lio__py [0.237s] [ 68%] Building CXX object CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o [0.268s] [ 74%] Built target fast_lio__rosidl_generator_py [0.304s] [ 80%] Built target fast_lio__rosidl_typesupport_c__pyext [0.309s] [ 85%] Built target fast_lio__rosidl_typesupport_fastrtps_c__pyext [0.323s] [ 91%] Built target fast_lio__rosidl_typesupport_introspection_c__pyext [0.480s] running egg_info [0.481s] writing fast_lio.egg-info/PKG-INFO [0.482s] writing dependency_links to fast_lio.egg-info/dependency_links.txt [0.482s] writing top-level names to fast_lio.egg-info/top_level.txt [0.487s] reading manifest file 'fast_lio.egg-info/SOURCES.txt' [0.490s] writing manifest file 'fast_lio.egg-info/SOURCES.txt' [0.545s] [ 91%] Built target ament_cmake_python_build_fast_lio_egg [5.514s] In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22, [5.514s] from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23, [5.514s] from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14, [5.514s] from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42, [5.514s] from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25, [5.514s] from /usr/include/boost/smart_ptr/shared_ptr.hpp:29, [5.514s] from /usr/include/boost/shared_ptr.hpp:17, [5.514s] from /usr/include/boost/date_time/microsec_time_clock.hpp:18, [5.514s] from /usr/include/boost/interprocess/detail/posix_time_types_wrk.hpp:31, [5.514s] from /usr/include/boost/interprocess/detail/os_thread_functions.hpp:36, [5.514s] from /usr/include/boost/interprocess/sync/file_lock.hpp:26, [5.514s] from /usr/include/pcl-1.12/pcl/io/pcd_io.h:46, [5.514s] from /opt/ros/humble/include/pcl_conversions/pcl_conversions.h:72, [5.514s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/IMU_Processing.hpp:18, [5.514s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:47: [5.514s] /usr/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’ [5.515s] 36 | BOOST_PRAGMA_MESSAGE( [5.515s] | ^~~~~~~~~~~~~~~~~~~~ [6.695s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:634:222: error: expected ‘,’ or ‘...’ before ‘std’ [6.695s] 634 | nique_ptr & lidar2baselink， std::unique_ptr & livox2baselink) [6.695s] | ^~~ [6.695s] [6.711s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In function ‘void publish_odometry(rclcpp::Publisher > >::SharedPtr, std::unique_ptr&, std::unique_ptr&)’: [6.711s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:684:5: error: ‘lidar2baselink’ was not declared in this scope; did you mean ‘lidar2baselink，’? [6.711s] 684 | lidar2baselink->sendTransform(trans2); [6.711s] | ^~~~~~~~~~~~~~ [6.712s] | lidar2baselink， [6.712s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:695:21: error: redeclaration of ‘tf2::Quaternion q’ [6.712s] 695 | tf2::Quaternion q; [6.712s] | ^ [6.712s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:677:21: note: ‘tf2::Quaternion q’ previously declared here [6.712s] 677 | tf2::Quaternion q; [6.712s] | ^ [6.723s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:702:5: error: ‘livox2baselink’ was not declared in this scope; did you mean ‘lidar2baselink，’? [6.723s] 702 | livox2baselink->sendTransform(trans3); [6.723s] | ^~~~~~~~~~~~~~ [6.723s] | lidar2baselink， [6.968s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In constructor ‘LaserMappingNode::LaserMappingNode(const rclcpp::NodeOptions&)’: [6.968s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:985:9: error: ‘livox2baselink_’ was not declared in this scope; did you mean ‘lidar2baselink_’? [6.968s] 985 | livox2baselink_ = std::make_unique(*this); [6.968s] | ^~~~~~~~~~~~~~~ [6.968s] | lidar2baselink_ [7.512s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In member function ‘void LaserMappingNode::timer_callback()’: [7.512s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:1114:82: error: ‘livox2baselink_’ was not declared in this scope; did you mean ‘lidar2baselink_’? [7.512s] 1114 | dometry(pubOdomAftMapped_, tf_broadcaster_, lidar2baselink_,livox2baselink_); [7.512s] | ^~~~~~~~~~~~~~~ [7.512s] | lidar2baselink_ [42.703s] gmake[2]: *** [CMakeFiles/fastlio_mapping.dir/build.make:76: CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o] Error 1 [42.703s] gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/fastlio_mapping.dir/all] Error 2 [42.703s] gmake: *** [Makefile:146: all] Error 2 [42.705s] Invoked command in '/home/firmament/codes/24navigation/build/fast_lio' returned '2': CMAKE_PREFIX_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2:/home/firmament/codes/24navigation/install/rm_vision_bringup:/home/firmament/codes/24navigation/install/rm_urdf_ff:/home/firmament/codes/24navigation/install/rm_serial_driver:/home/firmament/codes/24navigation/install/rm_gimbal_description:/home/firmament/codes/24navigation/install/rm_auto_aim:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan:/home/firmament/codes/24navigation/install/plc_bringup:/home/firmament/codes/24navigation/install/pcdmap2pgm:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller:/home/firmament/codes/24navigation/install/mindvision_camera:/home/firmament/codes/24navigation/install/icp_registration:/home/firmament/codes/24navigation/install/fast_lio:/home/firmament/codes/24navigation/install/linefit_ground_segmentation_ros:/home/firmament/codes/24navigation/install/linefit_ground_segmentation:/home/firmament/codes/24navigation/install/imu_complementary_filter:/home/firmament/codes/24navigation/install/icp_localization_ros2:/home/firmament/codes/24navigation/install/hik_camera:/home/firmament/codes/24navigation/install/armor_tracker:/home/firmament/codes/24navigation/install/armor_detector:/home/firmament/codes/24navigation/install/auto_aim_interfaces:/opt/ros/humble LD_LIBRARY_PATH=/home/firmament/codes/24navigation/install/livox_ros_driver2/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/home/firmament/codes/24navigation/install/rm_serial_driver/lib:/home/firmament/codes/24navigation/install/pointcloud_to_laserscan/lib:/home/firmament/codes/24navigation/install/omni_regulated_pure_pursuit_controller/lib:/home/firmament/codes/24navigation/install/mindvision_camera/lib:/home/firmament/codes/24navigation/install/icp_registration/lib:/home/firmament/codes/24navigation/install/fast_lio/lib:/home/firmament/codes/24navigation/install/linefit_ground_segmentation/lib:/home/firmament/codes/24navigation/install/imu_complementary_filter/lib:/home/firmament/codes/24navigation/install/hik_camera/lib:/home/firmament/codes/24navigation/install/armor_tracker/lib:/home/firmament/codes/24navigation/install/armor_detector/lib:/home/firmament/codes/24navigation/install/auto_aim_interfaces/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib:/opt/MVS/lib/64:/opt/MVS/lib/32:/opt/MVS/lib/64:/opt/MVS/lib/32 /usr/bin/cmake --build /home/firmament/codes/24navigation/build/fast_lio -- -j8 -l8