[0.015s] 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 [0.078s] [ 2%] Built target fast_lio__cpp [0.080s] [ 11%] Built target fast_lio__rosidl_generator_c [0.090s] [ 11%] Built target ament_cmake_python_symlink_fast_lio [0.116s] [ 28%] Built target fast_lio__rosidl_typesupport_cpp [0.116s] [ 28%] Built target fast_lio__rosidl_typesupport_introspection_cpp [0.129s] [ 45%] Built target fast_lio__rosidl_typesupport_fastrtps_c [0.130s] [ 45%] Built target fast_lio__rosidl_typesupport_introspection_c [0.130s] [ 54%] Built target fast_lio__rosidl_typesupport_c [0.130s] [ 62%] Built target fast_lio__rosidl_typesupport_fastrtps_cpp [0.147s] Consolidate compiler generated dependencies of target fastlio_mapping [0.158s] [ 62%] Built target fast_lio [0.190s] [ 65%] Built target fast_lio__py [0.202s] [ 68%] Building CXX object CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o [0.224s] [ 74%] Built target fast_lio__rosidl_generator_py [0.262s] [ 82%] Built target fast_lio__rosidl_typesupport_fastrtps_c__pyext [0.262s] [ 85%] Built target fast_lio__rosidl_typesupport_introspection_c__pyext [0.269s] [ 91%] Built target fast_lio__rosidl_typesupport_c__pyext [0.404s] running egg_info [0.406s] writing fast_lio.egg-info/PKG-INFO [0.407s] writing dependency_links to fast_lio.egg-info/dependency_links.txt [0.407s] writing top-level names to fast_lio.egg-info/top_level.txt [0.409s] reading manifest file 'fast_lio.egg-info/SOURCES.txt' [0.410s] writing manifest file 'fast_lio.egg-info/SOURCES.txt' [0.467s] [ 91%] Built target ament_cmake_python_build_fast_lio_egg [5.352s] In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22, [5.352s] from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23, [5.352s] from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14, [5.352s] from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42, [5.352s] from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25, [5.352s] from /usr/include/boost/smart_ptr/shared_ptr.hpp:29, [5.352s] from /usr/include/boost/shared_ptr.hpp:17, [5.352s] from /usr/include/boost/date_time/microsec_time_clock.hpp:18, [5.352s] from /usr/include/boost/interprocess/detail/posix_time_types_wrk.hpp:31, [5.352s] from /usr/include/boost/interprocess/detail/os_thread_functions.hpp:36, [5.352s] from /usr/include/boost/interprocess/sync/file_lock.hpp:26, [5.352s] from /usr/include/pcl-1.12/pcl/io/pcd_io.h:46, [5.352s] from /opt/ros/humble/include/pcl_conversions/pcl_conversions.h:72, [5.353s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/IMU_Processing.hpp:18, [5.353s] from /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:47: [5.353s] /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.’ [5.353s] 36 | BOOST_PRAGMA_MESSAGE( [5.353s] | ^~~~~~~~~~~~~~~~~~~~ [6.558s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:634:223: error: expected ‘,’ or ‘...’ before ‘std’ [6.558s] 634 | void publish_odometry(const rclcpp::Publisher::SharedPtr pubOdomAftMapped, std::unique_ptr & tf_br, std::unique_ptr & lidar2baselink， std::unique_ptr & livox2baselink) [6.558s] | ^~~ [6.575s] /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&)’: [6.575s] /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，’? [6.575s] 684 | lidar2baselink->sendTransform(trans2); [6.575s] | ^~~~~~~~~~~~~~ [6.575s] | lidar2baselink， [6.575s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:695:21: error: redeclaration of ‘tf2::Quaternion q’ [6.575s] 695 | tf2::Quaternion q; [6.575s] | ^ [6.575s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:677:21: note: ‘tf2::Quaternion q’ previously declared here [6.575s] 677 | tf2::Quaternion q; [6.575s] | ^ [6.588s] /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，’? [6.589s] 702 | livox2baselink->sendTransform(trans3); [6.589s] | ^~~~~~~~~~~~~~ [6.589s] | lidar2baselink， [7.358s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp: In member function ‘void LaserMappingNode::timer_callback()’: [7.358s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:1114:29: error: too many arguments to function ‘void publish_odometry(rclcpp::Publisher > >::SharedPtr, std::unique_ptr&, std::unique_ptr&)’ [7.358s] 1114 | publish_odometry(pubOdomAftMapped_, tf_broadcaster_, lidar2baselink_,livox2baselink_); [7.358s] | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [7.358s] /home/firmament/codes/24navigation/src/FAST_LIO-ROS2/src/laserMapping.cpp:634:6: note: declared here [7.358s] 634 | void publish_odometry(const rclcpp::Publisher::SharedPtr pubOdomAftMapped, std::unique_ptr & tf_br, std::unique_ptr & lidar2baselink， std::unique_ptr & livox2baselink) [7.358s] | ^~~~~~~~~~~~~~~~ [40.344s] gmake[2]: *** [CMakeFiles/fastlio_mapping.dir/build.make:76: CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o] Error 1 [40.344s] gmake[1]: *** [CMakeFiles/Makefile2:593: CMakeFiles/fastlio_mapping.dir/all] Error 2 [40.344s] gmake: *** [Makefile:146: all] Error 2 [40.345s] 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