colcon build --symlink-install
[5.579s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
	'cv_bridge' is in: /home/unitree/ros2_ws/install/cv_bridge, /opt/ros/foxy
	'image_geometry' is in: /home/unitree/ros2_ws/install/image_geometry, /opt/ros/foxy
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
	--allow-overriding cv_bridge image_geometry

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> cmake_modules
Starting >>> cv_bridge
Starting >>> open_manipulator_msgs
Starting >>> unitree_api
Finished <<< cmake_modules [2.83s]
Starting >>> unitree_go
Finished <<< cv_bridge [3.93s]
Starting >>> robotis_manipulator
Finished <<< unitree_api [4.91s]
Starting >>> apriltag_msgs
Finished <<< open_manipulator_msgs [6.34s]
Starting >>> dynamixel_hardware
Finished <<< robotis_manipulator [4.62s]
Starting >>> go2_srvs
Finished <<< unitree_go [7.46s]
Starting >>> open_manipulator_x_libs
Finished <<< dynamixel_hardware [4.37s]
Starting >>> go2_description
Finished <<< apriltag_msgs [6.40s]
Starting >>> image_geometry
Finished <<< go2_srvs [5.71s]
Starting >>> apriltag_ros
Finished <<< open_manipulator_x_libs [5.25s]
Finished <<< go2_description [4.41s]
Starting >>> open_manipulator_x_description
Starting >>> open_manipulator_x_teleop
Finished <<< image_geometry [6.18s]
Starting >>> open_manipulator_x_controller
Finished <<< apriltag_ros [5.72s]
Starting >>> domain_bridge
Finished <<< open_manipulator_x_description [5.27s]
Starting >>> go2_bringup
Finished <<< open_manipulator_x_teleop [5.58s]
Starting >>> go2_depth_camera
Finished <<< open_manipulator_x_controller [4.39s]
Starting >>> go2_gazebo_classic
Finished <<< go2_depth_camera [2.69s]
Starting >>> go2_gps
Finished <<< go2_bringup [4.62s]
Starting >>> go2_host
Finished <<< domain_bridge [6.54s]
Starting >>> go2_joystick
Finished <<< go2_gazebo_classic [4.62s]
Starting >>> go2_livox
Finished <<< go2_gps [4.63s]
Starting >>> go2_manipulation
Finished <<< go2_host [4.50s]
Starting >>> go2_navigation
Finished <<< go2_joystick [4.78s]
Starting >>> go2_viz
Finished <<< go2_livox [4.69s]
Starting >>> go2_webserver
Finished <<< go2_navigation [3.16s]
Starting >>> go2_control
Finished <<< go2_manipulation [6.03s]
Starting >>> go2_demo
Finished <<< go2_viz [4.32s]
Finished <<< go2_webserver [4.01s]
Starting >>> go2_moveit
Starting >>> go2_platform
Finished <<< go2_control [4.48s]
Starting >>> opencv_tests
Finished <<< go2_moveit [4.37s]
Starting >>> vision_opencv
Finished <<< go2_demo [6.33s]
Starting >>> go2_docking
Finished <<< vision_opencv [2.22s]
Starting >>> open_manipulator
Finished <<< opencv_tests [5.33s]
Finished <<< go2_docking [3.02s]
Finished <<< open_manipulator [2.27s]
--- stderr: go2_platform
/usr/bin/ld: cannot find -lunitree_sdk2
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/go2_lowroscontrol.dir/build.make:211: go2_lowroscontrol] Error 1
make[1]: *** [CMakeFiles/Makefile2:84: CMakeFiles/go2_lowroscontrol.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: cannot find -lunitree_sdk2
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/go2_scan.dir/build.make:211: go2_scan] Error 1
make[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/go2_scan.dir/all] Error 2
/usr/bin/ld: cannot find -lunitree_sdk2
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/go2_camera.dir/build.make:234: go2_camera] Error 1
make[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/go2_camera.dir/all] Error 2
In file included from /usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp:30,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp:63,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/Request_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_request_response.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal.hpp:6,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/future/request_future.hpp:5,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_stub.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_base.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/go2/sport/sport_client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/src/go2_highroscontrol.cpp:12:
/home/unitree/ros2_ws/src/go2_platform/include/dds/ddsi/ddsi_shm_transport.h:76:39: error: use of enum ‘ddsi_shm_loglevel’ without previous declaration
   76 | DDS_EXPORT void shm_set_loglevel(enum ddsi_shm_loglevel);
      |                                       ^~~~~~~~~~~~~~~~~
In file included from /home/unitree/ros2_ws/src/go2_platform/include/dds/ddsrt/time.h:24,
                 from /home/unitree/ros2_ws/src/go2_platform/include/dds/ddsi/ddsi_serdata.h:17,
                 from /usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp:22,
                 from /usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp:26,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp:63,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/Request_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_request_response.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal.hpp:6,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/future/request_future.hpp:5,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_stub.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_base.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/go2/sport/sport_client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/src/go2_highroscontrol.cpp:12:
/usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp: In function ‘uint32_t serdata_iox_size(const ddsi_serdata*)’:
/usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp:629:32: error: ‘const struct ddsi_sertype’ has no member named ‘iox_size’; did you mean ‘fixed_size’?
  629 |   assert(sizeof(T) == d->type->iox_size);
      |                                ^~~~~~~~
In file included from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestIdentity_.hpp:63,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/RequestHeader_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_idl_decl/Request_.hpp:12,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal_request_response.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/internal/internal.hpp:6,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/future/request_future.hpp:5,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_stub.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_base.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/go2/sport/sport_client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/src/go2_highroscontrol.cpp:12:
/usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp:630:19: error: ‘const struct ddsi_sertype’ has no member named ‘iox_size’; did you mean ‘fixed_size’?
  630 |   return d->type->iox_size;
      |                   ^~~~~~~~
      |                   fixed_size
/usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp: In member function ‘void ddscxx_serdata<T>::update_sample_from_iox_chunk(T*&)’:
/usr/local/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp:825:7: error: ‘iox_chunk’ was not declared in this scope; did you mean ‘free_iox_chunk’?
  825 |   if (iox_chunk != nullptr && data() == nullptr) {
      |       ^~~~~~~~~
      |       free_iox_chunk
In file included from /usr/local/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp:24,
                 from /usr/local/include/ddscxx/dds/sub/detail/ddssub.hpp:15,
                 from /usr/local/include/ddscxx/dds/sub/ddssub.hpp:125,
                 from /usr/local/include/ddscxx/dds/dds.hpp:37,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/common/dds/dds_entity.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/common/dds/dds_topic_channel.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/common/dds/dds_factory_model.hpp:5,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/channel/channel_factory.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/channel/channel_labor.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_stub.hpp:5,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client_base.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/client/client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/include/unitree/robot/go2/sport/sport_client.hpp:4,
                 from /home/unitree/ros2_ws/src/go2_platform/src/go2_highroscontrol.cpp:12:
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp: In member function ‘bool dds::sub::detail::CDRSamplesHolder::update_cdrblob_from_iox_chunk(ddsi_serdata&, org::eclipse::cyclonedds::topic::CDRBlob&)’:
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:188:26: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  188 |         if (current_blob.iox_chunk && current_blob.iox_subscriber) {
      |                          ^~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:188:52: error: ‘struct ddsi_serdata’ has no member named ‘iox_subscriber’
  188 |         if (current_blob.iox_chunk && current_blob.iox_subscriber) {
      |                                                    ^~~~~~~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:190:70: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  190 |             auto iox_header = iceoryx_header_from_chunk(current_blob.iox_chunk);
      |                                                                      ^~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:193:80: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  193 |               copy_buffer_to_cdr_blob(reinterpret_cast<uint8_t *>(current_blob.iox_chunk),
      |                                                                                ^~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:198:84: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  198 |                                                                       current_blob.iox_chunk);
      |                                                                                    ^~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:202:75: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  202 |               ddsi_sertype_serialize_into(current_blob.type, current_blob.iox_chunk, buffer.data(),
      |                                                                           ^~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:212:66: error: ‘struct ddsi_serdata’ has no member named ‘iox_subscriber’
  212 |             free_iox_chunk(static_cast<iox_sub_t *>(current_blob.iox_subscriber), &current_blob.iox_chunk);
      |                                                                  ^~~~~~~~~~~~~~
/usr/local/include/ddscxx/dds/sub/detail/SamplesHolder.hpp:212:97: error: ‘struct ddsi_serdata’ has no member named ‘iox_chunk’
  212 |             free_iox_chunk(static_cast<iox_sub_t *>(current_blob.iox_subscriber), &current_blob.iox_chunk);
      |                                                                                                 ^~~~~~~~~
make[2]: *** [CMakeFiles/go2_highroscontrol.dir/build.make:63: CMakeFiles/go2_highroscontrol.dir/src/go2_highroscontrol.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/go2_highroscontrol.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< go2_platform [11.0s, exited with code 2]

Summary: 35 packages finished [54.7s]
  1 package failed: go2_platform
  1 package had stderr output: go2_platform