[0.137s] Invoking command in '/home/firmament/codes/24navigation/build/pcdmap2pgm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/pcdmap2pgm -- -j8 -l8 [0.214s] [ 50%] Building CXX object CMakeFiles/convert_pcd2pgm.dir/src/pcd2pgm.cpp.o [3.547s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp: In function ‘int main(int, char**)’: [3.547s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:86:35: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [15], std::string)’ [3.547s] 86 | node->declare_parameter("map_topic_name", std::string("map")); [3.547s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.547s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.547s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.547s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.547s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.547s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.547s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:195:1: note: candidate: ‘auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool) [with ParameterT = float; std::string = std::__cxx11::basic_string; rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor_ >]’ [3.547s] 195 | Node::declare_parameter( [3.547s] | ^~~~ [3.547s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:197:22: note:  no known conversion for argument 2 from ‘std::string’ {aka ‘std::__cxx11::basic_string’} to ‘const float&’ [3.547s] 197 | const ParameterT & default_value, [3.547s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ [3.547s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:215:1: note: candidate: ‘auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool) [with ParameterT = float; std::string = std::__cxx11::basic_string; rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor_ >]’ [3.548s] 215 | Node::declare_parameter( [3.548s] | ^~~~ [3.548s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:217:52: note:  no known conversion for argument 2 from ‘std::string’ {aka ‘std::__cxx11::basic_string’} to ‘const ParameterDescriptor&’ {aka ‘const rcl_interfaces::msg::ParameterDescriptor_ >&’} [3.548s] 217 | const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor, [3.548s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ [3.549s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:104:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [11], double&, double)’ [3.549s] 104 | node->get_parameter("thre_z_min", thre_z_min,50.0); // 0.5 changed [3.549s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.549s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.549s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.549s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.549s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.550s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.550s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.550s] | ^~~~ [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.550s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:104:24: note:  candidate expects 2 arguments, 3 provided [3.550s] 104 | node->get_parameter("thre_z_min", thre_z_min,50.0); // 0.5 changed [3.550s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.550s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.550s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.550s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.550s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.550s] 647 | get_parameter(const std::string & name) const; [3.550s] | ^~~~~~~~~~~~~ [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.550s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.550s] | ^~~~~~~~~~~~~ [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.550s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:105:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [11], double&, double)’ [3.550s] 105 | node->get_parameter("thre_z_max", thre_z_max,10.0); [3.550s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.550s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.550s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.550s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.550s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.550s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.550s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.550s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.551s] | ^~~~ [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.551s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:105:24: note:  candidate expects 2 arguments, 3 provided [3.551s] 105 | node->get_parameter("thre_z_max", thre_z_max,10.0); [3.551s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.551s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.551s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.551s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.551s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.551s] 647 | get_parameter(const std::string & name) const; [3.551s] | ^~~~~~~~~~~~~ [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.551s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.551s] | ^~~~~~~~~~~~~ [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.551s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:106:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [18], int&, int)’ [3.551s] 106 | node->get_parameter("flag_pass_through", flag_pass_through, 1); [3.551s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.551s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.551s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.551s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.551s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.551s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.551s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.551s] | ^~~~ [3.551s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.551s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:106:24: note:  candidate expects 2 arguments, 3 provided [3.552s] 106 | node->get_parameter("flag_pass_through", flag_pass_through, 1); [3.552s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.552s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.552s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.552s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.552s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.552s] 647 | get_parameter(const std::string & name) const; [3.552s] | ^~~~~~~~~~~~~ [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.552s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.552s] | ^~~~~~~~~~~~~ [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.552s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:107:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ [3.552s] 107 | node->get_parameter("grid_x", grid_x, 0.1); [3.552s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.552s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.552s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.552s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.552s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.552s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.552s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.552s] | ^~~~ [3.552s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.552s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:107:24: note:  candidate expects 2 arguments, 3 provided [3.552s] 107 | node->get_parameter("grid_x", grid_x, 0.1); [3.552s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.553s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.553s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.553s] 647 | get_parameter(const std::string & name) const; [3.553s] | ^~~~~~~~~~~~~ [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.553s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.553s] | ^~~~~~~~~~~~~ [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.553s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:108:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ [3.553s] 108 | node->get_parameter("grid_y", grid_y, 0.1); [3.553s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.553s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.553s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.553s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.553s] | ^~~~ [3.553s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.553s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:108:24: note:  candidate expects 2 arguments, 3 provided [3.553s] 108 | node->get_parameter("grid_y", grid_y, 0.1); [3.553s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.553s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.553s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.554s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.554s] 647 | get_parameter(const std::string & name) const; [3.554s] | ^~~~~~~~~~~~~ [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.554s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.554s] | ^~~~~~~~~~~~~ [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.554s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:109:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [7], double&, double)’ [3.554s] 109 | node->get_parameter("grid_z", grid_z, 0.1); [3.554s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.554s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.554s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.554s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.554s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.554s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.554s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.554s] | ^~~~ [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.554s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:109:24: note:  candidate expects 2 arguments, 3 provided [3.554s] 109 | node->get_parameter("grid_z", grid_z, 0.1); [3.554s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~ [3.554s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.554s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.554s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.554s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.554s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.554s] 647 | get_parameter(const std::string & name) const; [3.555s] | ^~~~~~~~~~~~~ [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.555s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.555s] | ^~~~~~~~~~~~~ [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.555s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:110:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [12], double&, double)’ [3.555s] 110 | node->get_parameter("thre_radius", thre_radius, 0.05); [3.555s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.555s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.555s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.555s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.555s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.555s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.555s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.555s] | ^~~~ [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.555s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:110:24: note:  candidate expects 2 arguments, 3 provided [3.555s] 110 | node->get_parameter("thre_radius", thre_radius, 0.05); [3.555s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.555s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.555s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.555s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.555s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.555s] 647 | get_parameter(const std::string & name) const; [3.555s] | ^~~~~~~~~~~~~ [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.555s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.555s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.556s] | ^~~~~~~~~~~~~ [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.556s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:111:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [18], int&, int)’ [3.556s] 111 | node->get_parameter("thres_point_count", thres_point_count, 10); [3.556s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.556s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.556s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.556s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.556s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.556s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.556s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.556s] | ^~~~ [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.556s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:111:24: note:  candidate expects 2 arguments, 3 provided [3.556s] 111 | node->get_parameter("thres_point_count", thres_point_count, 10); [3.556s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.556s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.556s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.556s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.556s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.556s] 647 | get_parameter(const std::string & name) const; [3.556s] | ^~~~~~~~~~~~~ [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.556s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.556s] | ^~~~~~~~~~~~~ [3.556s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [3.556s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:112:24: error: no matching function for call to ‘rclcpp::Node::get_parameter(const char [15], double&, double)’ [3.556s] 112 | node->get_parameter("map_resolution", map_resolution, 0.04); [3.557s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.557s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321, [3.557s] from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.557s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.557s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.557s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note: candidate: ‘template bool rclcpp::Node::get_parameter(const string&, ParameterT&) const’ [3.557s] 286 | Node::get_parameter(const std::string & name, ParameterT & parameter) const [3.557s] | ^~~~ [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:286:1: note:  template argument deduction/substitution failed: [3.557s] /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:112:24: note:  candidate expects 2 arguments, 3 provided [3.557s] 112 | node->get_parameter("map_resolution", map_resolution, 0.04); [3.557s] | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [3.557s] In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28, [3.557s] from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22, [3.557s] from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, [3.557s] from /home/firmament/codes/24navigation/src/pcdmap2pgm/src/pcd2pgm.cpp:1: [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note: candidate: ‘rclcpp::Parameter rclcpp::Node::get_parameter(const string&) const’ [3.557s] 647 | get_parameter(const std::string & name) const; [3.557s] | ^~~~~~~~~~~~~ [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:647:3: note:  candidate expects 1 argument, 3 provided [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note: candidate: ‘bool rclcpp::Node::get_parameter(const string&, rclcpp::Parameter&) const’ [3.557s] 666 | get_parameter(const std::string & name, rclcpp::Parameter & parameter) const; [3.557s] | ^~~~~~~~~~~~~ [3.557s] /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:666:3: note:  candidate expects 2 arguments, 3 provided [4.280s] gmake[2]: *** [CMakeFiles/convert_pcd2pgm.dir/build.make:76: CMakeFiles/convert_pcd2pgm.dir/src/pcd2pgm.cpp.o] Error 1 [4.280s] gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/convert_pcd2pgm.dir/all] Error 2 [4.280s] gmake: *** [Makefile:146: all] Error 2 [4.282s] Invoked command in '/home/firmament/codes/24navigation/build/pcdmap2pgm' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/pcdmap2pgm -- -j8 -l8