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  1. odroid@odroid:~/bookros2_ws$ colcon build --symlink-install
  2. Starting >>> controller_manager_msgs
  3. Starting >>> ros2_control_test_assets                  
  4. Starting >>> launch_pal                                                
  5. Starting >>> twist_mux                                                
  6. Finished <<< ros2_control_test_assets [6.34s]                                
  7. Starting >>> hardware_interface
  8. Finished <<< twist_mux [7.01s]        
  9. Starting >>> hey5_description
  10. Finished <<< hey5_description [1.62s]  
  11. Starting >>> tiago_description_calibration
  12. Finished <<< hardware_interface [3.50s]
  13. Starting >>> controller_interface
  14. Finished <<< tiago_description_calibration [1.92s]
  15. Starting >>> pal_gazebo_worlds
  16. Finished <<< controller_manager_msgs [13.5s]
  17. Starting >>> urdf_test
  18. Finished <<< controller_interface [3.97s]                  
  19. Starting >>> controller_manager                            
  20. Finished <<< pal_gazebo_worlds [3.58s]                      
  21. Starting >>> pmb2_maps
  22. Finished <<< launch_pal [17.2s]                            
  23. Starting >>> br2_tracking_msgs
  24. Finished <<< urdf_test [4.69s]                                    
  25. Starting >>> pal_gripper_description                                          
  26. Finished <<< pmb2_maps [3.86s]                                                
  27. Starting >>> pmb2_2dnav                                                        
  28. Finished <<< pal_gripper_description [3.42s]                                  
  29. Starting >>> astra_camera
  30. Finished <<< pmb2_2dnav [3.72s]                                            
  31. Starting >>> br2_basics
  32. Finished <<< controller_manager [9.04s]                                    
  33. Starting >>> forward_command_controller
  34. Finished <<< br2_tracking_msgs [7.39s]                                        
  35. Starting >>> joint_state_broadcaster
  36. Finished <<< br2_basics [2.79s]                                        
  37. Starting >>> diff_drive_controller                                    
  38. Finished <<< forward_command_controller [4.00s]                        
  39. Starting >>> imu_sensor_broadcaster                                    
  40. Finished <<< joint_state_broadcaster [5.94s]                            
  41. Starting >>> joint_state_controller
  42. Finished <<< diff_drive_controller [6.24s]                              
  43. Starting >>> joint_trajectory_controller
  44. Finished <<< imu_sensor_broadcaster [5.75s]                              
  45. Starting >>> position_controllers
  46. Finished <<< joint_state_controller [6.08s]                              
  47. Starting >>> pmb2_controller_configuration
  48. Finished <<< joint_trajectory_controller [7.65s]                        
  49. Starting >>> force_torque_sensor_broadcaster
  50. Finished <<< position_controllers [6.74s]                                
  51. Starting >>> pal_gripper_controller_configuration
  52. Finished <<< pmb2_controller_configuration [3.17s]                      
  53. Starting >>> pmb2_description                                            
  54. Finished <<< pal_gripper_controller_configuration [2.99s]                
  55. Starting >>> tiago_controller_configuration
  56. Finished <<< pmb2_description [3.54s]                                    
  57. Starting >>> pmb2_bringup
  58. Finished <<< force_torque_sensor_broadcaster [5.61s]                    
  59. Starting >>> ros2controlcli
  60. Finished <<< tiago_controller_configuration [4.95s]                      
  61. Starting >>> tiago_description
  62. Finished <<< pmb2_bringup [4.75s]                                        
  63. Starting >>> tiago_bringup
  64. Finished <<< tiago_description [3.38s]                                  
  65. Starting >>> effort_controllers                                          
  66. Finished <<< tiago_bringup [3.08s]                                      
  67. Starting >>> velocity_controllers
  68. Finished <<< effort_controllers [3.19s]                                  
  69. Starting >>> tiago_gazebo                                                
  70. Finished <<< velocity_controllers [2.94s]                                
  71. Starting >>> gazebo_ros2_control
  72. Finished <<< tiago_gazebo [2.77s]                                        
  73. Starting >>> ros2_controllers                                            
  74. Finished <<< gazebo_ros2_control [3.35s]                                    
  75. Starting >>> br2_bt_bumpgo
  76. Finished <<< ros2controlcli [13.4s]                                          
  77. Starting >>> ros2_control
  78. Finished <<< ros2_controllers [2.32s]                                        
  79. Starting >>> br2_bt_patrolling
  80. Finished <<< ros2_control [1.89s]                                            
  81. Starting >>> br2_fsm_bumpgo_cpp
  82. Finished <<< br2_fsm_bumpgo_cpp [1.77s]                                      
  83. Starting >>> br2_fsm_bumpgo_py
  84. Finished <<< br2_bt_bumpgo [6.34s]                                          
  85. Starting >>> br2_navigation
  86. Finished <<< br2_bt_patrolling [6.43s]                                      
  87. Starting >>> br2_tf2_detector
  88. Finished <<< br2_navigation [1.81s]                                          
  89. Starting >>> br2_tiago
  90. Finished <<< br2_tiago [4.69s]                                                
  91. Starting >>> br2_vff_avoidance                                                
  92. Finished <<< br2_fsm_bumpgo_py [11.9s]                                        
  93. Starting >>> groot
  94. Finished <<< br2_tf2_detector [15.1s]                                        
  95. Starting >>> my_package
  96. Finished <<< br2_vff_avoidance [11.0s]                                        
  97. Starting >>> rplidar_ros2
  98. Finished <<< groot [10.7s]                  
  99. Starting >>> br2_tracking
  100. --- stderr: astra_camera                    
  101. make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
  102. ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  103. ../../BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  104. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  105. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  106. ../../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  107. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  108. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  109. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  110. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  111. ../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak:40: HOST_PLATFORM is Arm64
  112. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp: In member function ‘void astra_wrapper::AstraDriver::advertiseROSTopics()’:
  113. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:190:101: error: no matching function for call to ‘rclcpp::Node::create_publisher<sensor_msgs::msg::Image>(const char [6], const rmw_qos_profile_t&)’
  114.   190 | sensor_msgs::msg::Image>("image", rmw_qos_profile_sensor_data);
  115.       |                                                              ^
  116.  
  117. In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
  118.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
  119.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  120.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  121.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  122. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note: candidate: ‘template<class MessageT, class AllocatorT, class PublisherT> std::shared_ptr<PublisherT> rclcpp::Node::create_publisher(const string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)’
  123.   184 |   create_publisher(
  124.       |   ^~~~~~~~~~~~~~~~
  125. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
  126. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:190:74: note:   cannot convert ‘rmw_qos_profile_sensor_data’ (type ‘const rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
  127.   190 | r_ = nh_->create_publisher<sensor_msgs::msg::Image>("image", rmw_qos_profile_sensor_data);
  128.       |                                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  129.  
  130. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:199:101: error: no matching function for call to ‘rclcpp::Node::create_publisher<sensor_msgs::msg::Image>(const char [9], const rmw_qos_profile_t&)’
  131.   199 | sor_msgs::msg::Image>("ir_image", rmw_qos_profile_sensor_data);
  132.       |                                                              ^
  133.  
  134. In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
  135.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
  136.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  137.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  138.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  139. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note: candidate: ‘template<class MessageT, class AllocatorT, class PublisherT> std::shared_ptr<PublisherT> rclcpp::Node::create_publisher(const string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)’
  140.   184 |   create_publisher(
  141.       |   ^~~~~~~~~~~~~~~~
  142. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
  143. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:199:74: note:   cannot convert ‘rmw_qos_profile_sensor_data’ (type ‘const rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
  144.   199 | = nh_->create_publisher<sensor_msgs::msg::Image>("ir_image", rmw_qos_profile_sensor_data);
  145.       |                                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  146.  
  147. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:210:105: error: no matching function for call to ‘rclcpp::Node::create_publisher<sensor_msgs::msg::Image>(const char [6], const rmw_qos_profile_t&)’
  148.   210 | sensor_msgs::msg::Image>("depth", rmw_qos_profile_sensor_data);
  149.       |                                                              ^
  150.  
  151. In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
  152.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
  153.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  154.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  155.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  156. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note: candidate: ‘template<class MessageT, class AllocatorT, class PublisherT> std::shared_ptr<PublisherT> rclcpp::Node::create_publisher(const string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)’
  157.   184 |   create_publisher(
  158.       |   ^~~~~~~~~~~~~~~~
  159. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
  160. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:210:78: note:   cannot convert ‘rmw_qos_profile_sensor_data’ (type ‘const rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
  161.   210 | w_ = nh_->create_publisher<sensor_msgs::msg::Image>("depth", rmw_qos_profile_sensor_data);
  162.       |                                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  163.  
  164. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:211:130: error: no matching function for call to ‘rclcpp::Node::create_publisher<sensor_msgs::msg::CameraInfo>(const char [18], const rmw_qos_profile_t&)’
  165.   211 | :CameraInfo>("depth_camera_info", rmw_qos_profile_sensor_data);
  166.       |                                                              ^
  167.  
  168. In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
  169.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
  170.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  171.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  172.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  173. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note: candidate: ‘template<class MessageT, class AllocatorT, class PublisherT> std::shared_ptr<PublisherT> rclcpp::Node::create_publisher(const string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)’
  174.   184 |   create_publisher(
  175.       |   ^~~~~~~~~~~~~~~~
  176. /opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
  177. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:211:103: note:   cannot convert ‘rmw_qos_profile_sensor_data’ (type ‘const rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
  178.   211 | publisher<sensor_msgs::msg::CameraInfo>("depth_camera_info", rmw_qos_profile_sensor_data);
  179.       |                                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~
  180.  
  181. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp: In member function ‘void astra_wrapper::AstraDriver::newIRFrameCallback(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr)’:
  182. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:542:29: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::Image_<std::allocator<void> > >::publish(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr&)’
  183.   542 |       pub_ir_->publish(image);
  184.       |                             ^
  185. In file included from /opt/ros/foxy/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
  186.                  from /opt/ros/foxy/include/rclcpp/subscription.hpp:50,
  187.                  from /opt/ros/foxy/include/rclcpp/any_executable.hpp:25,
  188.                  from /opt/ros/foxy/include/rclcpp/memory_strategy.hpp:24,
  189.                  from /opt/ros/foxy/include/rclcpp/memory_strategies.hpp:18,
  190.                  from /opt/ros/foxy/include/rclcpp/executor_options.hpp:20,
  191.                  from /opt/ros/foxy/include/rclcpp/executor.hpp:33,
  192.                  from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:26,
  193.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
  194.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  195.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  196.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  197. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type = std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > >]’
  198.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  199.       |   ^~~~~~~
  200. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:53: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >’
  201.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  202.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
  203. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const MessageT&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  204.   209 |   publish(const MessageT & msg)
  205.       |   ^~~~~~~
  206. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:28: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const sensor_msgs::msg::Image_<std::allocator<void> >&’
  207.   209 |   publish(const MessageT & msg)
  208.       |           ~~~~~~~~~~~~~~~~~^~~
  209. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rcl_serialized_message_t&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; rcl_serialized_message_t = rcutils_uint8_array_t]’
  210.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  211.       |   ^~~~~~~
  212. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:44: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rcl_serialized_message_t&’ {aka ‘const rcutils_uint8_array_t&’}
  213.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  214.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  215. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  216.   232 |   publish(const SerializedMessage & serialized_msg)
  217.       |   ^~~~~~~
  218. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:37: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rclcpp::SerializedMessage&’
  219.   232 |   publish(const SerializedMessage & serialized_msg)
  220.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  221. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(rclcpp::LoanedMessage<MessageT, AllocatorT>&&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  222.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  223.       |   ^~~~~~~
  224. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:58: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘rclcpp::LoanedMessage<sensor_msgs::msg::Image_<std::allocator<void> >, std::allocator<void> >&&’
  225.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  226.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
  227. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp: In member function ‘void astra_wrapper::AstraDriver::newColorFrameCallback(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr)’:
  228. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:559:32: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::Image_<std::allocator<void> > >::publish(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr&)’
  229.   559 |       pub_color_->publish(image);
  230.       |                                ^
  231. In file included from /opt/ros/foxy/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
  232.                  from /opt/ros/foxy/include/rclcpp/subscription.hpp:50,
  233.                  from /opt/ros/foxy/include/rclcpp/any_executable.hpp:25,
  234.                  from /opt/ros/foxy/include/rclcpp/memory_strategy.hpp:24,
  235.                  from /opt/ros/foxy/include/rclcpp/memory_strategies.hpp:18,
  236.                  from /opt/ros/foxy/include/rclcpp/executor_options.hpp:20,
  237.                  from /opt/ros/foxy/include/rclcpp/executor.hpp:33,
  238.                  from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:26,
  239.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
  240.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  241.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  242.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  243. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type = std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > >]’
  244.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  245.       |   ^~~~~~~
  246. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:53: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >’
  247.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  248.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
  249. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const MessageT&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  250.   209 |   publish(const MessageT & msg)
  251.       |   ^~~~~~~
  252. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:28: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const sensor_msgs::msg::Image_<std::allocator<void> >&’
  253.   209 |   publish(const MessageT & msg)
  254.       |           ~~~~~~~~~~~~~~~~~^~~
  255. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rcl_serialized_message_t&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; rcl_serialized_message_t = rcutils_uint8_array_t]’
  256.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  257.       |   ^~~~~~~
  258. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:44: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rcl_serialized_message_t&’ {aka ‘const rcutils_uint8_array_t&’}
  259.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  260.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  261. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  262.   232 |   publish(const SerializedMessage & serialized_msg)
  263.       |   ^~~~~~~
  264. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:37: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rclcpp::SerializedMessage&’
  265.   232 |   publish(const SerializedMessage & serialized_msg)
  266.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  267. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(rclcpp::LoanedMessage<MessageT, AllocatorT>&&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  268.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  269.       |   ^~~~~~~
  270. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:58: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘rclcpp::LoanedMessage<sensor_msgs::msg::Image_<std::allocator<void> >, std::allocator<void> >&&’
  271.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  272.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
  273. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp: In member function ‘void astra_wrapper::AstraDriver::newDepthFrameCallback(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr)’:
  274. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:623:53: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::Image_<std::allocator<void> > >::publish(sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr&)’
  275.   623 |         pub_depth_raw_->publish(floating_point_image);
  276.       |                                                     ^
  277. In file included from /opt/ros/foxy/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
  278.                  from /opt/ros/foxy/include/rclcpp/subscription.hpp:50,
  279.                  from /opt/ros/foxy/include/rclcpp/any_executable.hpp:25,
  280.                  from /opt/ros/foxy/include/rclcpp/memory_strategy.hpp:24,
  281.                  from /opt/ros/foxy/include/rclcpp/memory_strategies.hpp:18,
  282.                  from /opt/ros/foxy/include/rclcpp/executor_options.hpp:20,
  283.                  from /opt/ros/foxy/include/rclcpp/executor.hpp:33,
  284.                  from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:26,
  285.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
  286.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  287.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  288.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  289. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type = std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > >]’
  290.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  291.       |   ^~~~~~~
  292. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:53: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘std::unique_ptr<sensor_msgs::msg::Image_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::Image_<std::allocator<void> > > >’
  293.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  294.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
  295. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const MessageT&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  296.   209 |   publish(const MessageT & msg)
  297.       |   ^~~~~~~
  298. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:28: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const sensor_msgs::msg::Image_<std::allocator<void> >&’
  299.   209 |   publish(const MessageT & msg)
  300.       |           ~~~~~~~~~~~~~~~~~^~~
  301. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rcl_serialized_message_t&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>; rcl_serialized_message_t = rcutils_uint8_array_t]’
  302.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  303.       |   ^~~~~~~
  304. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:44: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rcl_serialized_message_t&’ {aka ‘const rcutils_uint8_array_t&’}
  305.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  306.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  307. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  308.   232 |   publish(const SerializedMessage & serialized_msg)
  309.       |   ^~~~~~~
  310. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:37: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘const rclcpp::SerializedMessage&’
  311.   232 |   publish(const SerializedMessage & serialized_msg)
  312.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  313. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(rclcpp::LoanedMessage<MessageT, AllocatorT>&&) [with MessageT = sensor_msgs::msg::Image_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  314.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  315.       |   ^~~~~~~
  316. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:58: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::Image_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > >’} to ‘rclcpp::LoanedMessage<sensor_msgs::msg::Image_<std::allocator<void> >, std::allocator<void> >&&’
  317.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  318.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
  319. /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:624:109: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >::publish(sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr)’
  320.   624 | hCameraInfo(image->width, image->height, image->header.stamp));
  321.       |                                                              ^
  322.  
  323. In file included from /opt/ros/foxy/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp:31,
  324.                  from /opt/ros/foxy/include/rclcpp/subscription.hpp:50,
  325.                  from /opt/ros/foxy/include/rclcpp/any_executable.hpp:25,
  326.                  from /opt/ros/foxy/include/rclcpp/memory_strategy.hpp:24,
  327.                  from /opt/ros/foxy/include/rclcpp/memory_strategies.hpp:18,
  328.                  from /opt/ros/foxy/include/rclcpp/executor_options.hpp:20,
  329.                  from /opt/ros/foxy/include/rclcpp/executor.hpp:33,
  330.                  from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:26,
  331.                  from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
  332.                  from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
  333.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/include/astra_camera/astra_driver.h:62,
  334.                  from /home/odroid/bookros2_ws/src/ros_astra_camera/src/astra_driver.cpp:33:
  335. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(std::unique_ptr<MessageT, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type>) [with MessageT = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; AllocatorT = std::allocator<void>; typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type>::rebind_alloc<MessageT>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<MessageT>::allocator_type> >::type = std::default_delete<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >]’
  336.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  337.       |   ^~~~~~~
  338. /opt/ros/foxy/include/rclcpp/publisher.hpp:185:53: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >’} to ‘std::unique_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> >, std::default_delete<sensor_msgs::msg::CameraInfo_<std::allocator<void> > > >’
  339.   185 |   publish(std::unique_ptr<MessageT, MessageDeleter> msg)
  340.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
  341. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const MessageT&) [with MessageT = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  342.   209 |   publish(const MessageT & msg)
  343.       |   ^~~~~~~
  344. /opt/ros/foxy/include/rclcpp/publisher.hpp:209:28: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >’} to ‘const sensor_msgs::msg::CameraInfo_<std::allocator<void> >&’
  345.   209 |   publish(const MessageT & msg)
  346.       |           ~~~~~~~~~~~~~~~~~^~~
  347. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rcl_serialized_message_t&) [with MessageT = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; AllocatorT = std::allocator<void>; rcl_serialized_message_t = rcutils_uint8_array_t]’
  348.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  349.       |   ^~~~~~~
  350. /opt/ros/foxy/include/rclcpp/publisher.hpp:226:44: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >’} to ‘const rcl_serialized_message_t&’ {aka ‘const rcutils_uint8_array_t&’}
  351.   226 |   publish(const rcl_serialized_message_t & serialized_msg)
  352.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  353. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(const rclcpp::SerializedMessage&) [with MessageT = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  354.   232 |   publish(const SerializedMessage & serialized_msg)
  355.       |   ^~~~~~~
  356. /opt/ros/foxy/include/rclcpp/publisher.hpp:232:37: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >’} to ‘const rclcpp::SerializedMessage&’
  357.   232 |   publish(const SerializedMessage & serialized_msg)
  358.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
  359. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:3: note: candidate: ‘void rclcpp::Publisher<MessageT, AllocatorT>::publish(rclcpp::LoanedMessage<MessageT, AllocatorT>&&) [with MessageT = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
  360.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  361.       |   ^~~~~~~
  362. /opt/ros/foxy/include/rclcpp/publisher.hpp:246:58: note:   no known conversion for argument 1 from ‘sensor_msgs::msg::CameraInfo_<std::allocator<void> >::SharedPtr’ {aka ‘std::shared_ptr<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >’} to ‘rclcpp::LoanedMessage<sensor_msgs::msg::CameraInfo_<std::allocator<void> >, std::allocator<void> >&&’
  363.   246 |   publish(rclcpp::LoanedMessage<MessageT, AllocatorT> && loaned_msg)
  364.       |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
  365. make[2]: *** [CMakeFiles/astra_driver_lib.dir/build.make:63: CMakeFiles/astra_driver_lib.dir/src/astra_driver.cpp.o] Error 1
  366. make[1]: *** [CMakeFiles/Makefile2:114: CMakeFiles/astra_driver_lib.dir/all] Error 2
  367. make: *** [Makefile:141: all] Error 2
  368. ---
  369. Failed   <<< astra_camera [1min 5s, exited with code 2]
  370. Aborted  <<< my_package [6.23s]                        
  371. Aborted  <<< rplidar_ros2 [6.73s]                      
  372. Aborted  <<< br2_tracking [11.0s]                                    
  373.  
  374. Summary: 47 packages finished [1min 38s]
  375.   1 package failed: astra_camera
  376.   3 packages aborted: br2_tracking my_package rplidar_ros2
  377.   1 package had stderr output: astra_camera
  378.   9 packages not processed
  379.  
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