Error compiling with Foxy

[odbee]

hey i know its not the best thing to do but i tried to compile this package with foxy wiith 20 packages succeeding and 4 failing. this is the error message i received:

Starting >>> hrim_actuator_rotaryservo_msgs
Starting >>> hrim_generic_msgs
Starting >>> control_msgs
Starting >>> hrim_actuator_gripper_msgs
Starting >>> hrim_actuator_gripper_srvs
Starting >>> hrim_actuator_rotaryservo_srvs
Starting >>> hrim_generic_srvs
Starting >>> hans_modular_gazebo
Finished <<< hans_modular_gazebo [0.45s]
Starting >>> hans_t30_description
Finished <<< hans_t30_description [0.30s]
Starting >>> hans_t49_description
Finished <<< hrim_generic_msgs [1.16s]
Starting >>> hans_t9_4_description
Finished <<< hrim_actuator_rotaryservo_msgs [1.21s]
Finished <<< hrim_actuator_rotaryservo_srvs [1.18s]
Starting >>> hrim_actuator_rotaryservo_actions
Starting >>> mara_bringup
Finished <<< hrim_generic_srvs [1.21s]
Starting >>> mara_contact_publisher
Finished <<< control_msgs [1.26s]
Finished <<< hrim_actuator_gripper_msgs [1.26s]
Starting >>> mara_description
Starting >>> mara_gazebo
Finished <<< hrim_actuator_gripper_srvs [1.33s]
Starting >>> robotiq_140_gripper_description
Finished <<< hans_t49_description [0.59s]
Starting >>> robotiq_85_gripper_description
Finished <<< hans_t9_4_description [0.44s]
Finished <<< mara_bringup [0.41s]
Starting >>> robotiq_gazebo
Starting >>> robotiq_hande_gripper_description
Finished <<< mara_description [0.38s]
Starting >>> hros_cognition_mara_components
Finished <<< mara_gazebo [0.45s]
Starting >>> mara_gazebo_plugins
Finished <<< robotiq_140_gripper_description [0.46s]
Finished <<< robotiq_85_gripper_description [0.44s]
Starting >>> mara_utils_scripts
Starting >>> robotiq_gripper_gazebo_plugins
Finished <<< hrim_actuator_rotaryservo_actions [0.83s]
Finished <<< robotiq_gazebo [0.43s]
Finished <<< robotiq_hande_gripper_description [0.43s]
Finished <<< mara_utils_scripts [0.34s]
--- stderr: hros_cognition_mara_components
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp: In constructor ‘HROSCognitionMaraComponentsNode::HROSCognitionMaraComponentsNode(const string&, int, char**, bool)’:
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:11:127: error: no matching function for call to ‘HROSCognitionMaraComponentsNode::create_publisher<control_msgs::msg::JointTrajectoryControllerState>(const char [23], rmw_qos_profile_t&)’
   11 |   common_joints_pub_ = create_publisher<control_msgs::msg::JointTrajectoryControllerState>("/mara_controller/state", qos_state);
      |                                                                                                                               ^
In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/include/HROSCognitionMaraComponents.hpp:4,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:1:
/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>&)’
  184 |   create_publisher(
      |   ^~~~~~~~~~~~~~~~
/opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:11:118: note:   cannot convert ‘qos_state’ (type ‘rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
   11 |   common_joints_pub_ = create_publisher<control_msgs::msg::JointTrajectoryControllerState>("/mara_controller/state", qos_state);
      |                                                                                                                      ^~~~~~~~~
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:13:207: error: no matching function for call to ‘HROSCognitionMaraComponentsNode::create_subscription<trajectory_msgs::msg::JointTrajectory>(const char [25], std::_Bind_helper<false, void (HROSCognitionMaraComponentsNode::*)(std::shared_ptr<trajectory_msgs::msg::JointTrajectory_<std::allocator<void> > >), HROSCognitionMaraComponentsNode*, const std::_Placeholder<1>&>::type, const rmw_qos_profile_t&)’
   13 |   trajectory_sub_ = create_subscription<trajectory_msgs::msg::JointTrajectory>("/mara_controller/command", std::bind(&HROSCognitionMaraComponentsNode::commandCallback, this, _1), rmw_qos_profile_sensor_data);
      |                                                                                                                                                                                                               ^
In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/include/HROSCognitionMaraComponents.hpp:4,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:1:
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note: candidate: ‘template<class MessageT, class CallbackT, class AllocatorT, class CallbackMessageT, class SubscriptionT, class MessageMemoryStrategyT> std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)’
  213 |   create_subscription(
      |   ^~~~~~~~~~~~~~~~~~~
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note:   template argument deduction/substitution failed:
/opt/ros/foxy/include/rclcpp/node.hpp:204:5: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
  204 |     typename CallbackMessageT =
      |     ^~~~~~~~
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:64:60: error: no matching function for call to ‘HROSCognitionMaraComponentsNode::create_subscription<hrim_actuator_rotaryservo_msgs::msg::StateRotaryServo>(std::string&, HROSCognitionMaraComponentsNode::HROSCognitionMaraComponentsNode(const string&, int, char**, bool)::<lambda(hrim_actuator_rotaryservo_msgs::msg::StateRotaryServo_<std::allocator<void> >::UniquePtr)>, const rmw_qos_profile_t&)’
   64 |                               },rmw_qos_profile_sensor_data);
      |                                                            ^
In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/include/HROSCognitionMaraComponents.hpp:4,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:1:
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note: candidate: ‘template<class MessageT, class CallbackT, class AllocatorT, class CallbackMessageT, class SubscriptionT, class MessageMemoryStrategyT> std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)’
  213 |   create_subscription(
      |   ^~~~~~~~~~~~~~~~~~~
/opt/ros/foxy/include/rclcpp/node.hpp:213:3: note:   template argument deduction/substitution failed:
/opt/ros/foxy/include/rclcpp/node.hpp:204:5: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’
  204 |     typename CallbackMessageT =
      |     ^~~~~~~~
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:70:146: error: no matching function for call to ‘HROSCognitionMaraComponentsNode::create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>(std::string&, const rmw_qos_profile_t&)’
   70 |     auto publisher_command = this->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>(motor_name, rmw_qos_profile_sensor_data);
      |                                                                                                                                                  ^
In file included from /opt/ros/foxy/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:22,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/include/HROSCognitionMaraComponents.hpp:4,
                 from /home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:1:
/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>&)’
  184 |   create_publisher(
      |   ^~~~~~~~~~~~~~~~
/opt/ros/foxy/include/rclcpp/node.hpp:184:3: note:   template argument deduction/substitution failed:
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:70:119: note:   cannot convert ‘rmw_qos_profile_sensor_data’ (type ‘const rmw_qos_profile_t’) to type ‘const rclcpp::QoS&’
   70 |     auto publisher_command = this->create_publisher<hrim_actuator_rotaryservo_msgs::msg::GoalRotaryServo>(motor_name, rmw_qos_profile_sensor_data);
      |                                                                                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ed/workspace/ros2_mara_ws/src/mara/hros_cognition_mara_components/src/HROSCognitionMaraComponents.cpp:3:125: warning: unused parameter ‘intra_process_comms’ [-Wunused-parameter]
    3 | HROSCognitionMaraComponentsNode::HROSCognitionMaraComponentsNode(const std::string & node_name, int argc, char **argv, bool intra_process_comms ): rclcpp::Node(node_name)
      |                                                                                                                        ~~~~~^~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/hros_cognition_mara_components.dir/build.make:76: CMakeFiles/hros_cognition_mara_components.dir/src/HROSCognitionMaraComponents.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/hros_cognition_mara_components.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< hros_cognition_mara_components [2.64s, exited with code 2]
Aborted  <<< mara_contact_publisher [9.25s]
Aborted  <<< robotiq_gripper_gazebo_plugins [10.4s]
Aborted  <<< mara_gazebo_plugins [12.0s]

Summary: 20 packages finished [14.0s]
  1 package failed: hros_cognition_mara_components
  3 packages aborted: mara_contact_publisher mara_gazebo_plugins robotiq_gripper_gazebo_plugins
  4 packages had stderr output: hros_cognition_mara_components mara_contact_publisher mara_gazebo_plugins robotiq_gripper_gazebo_plugins

[Ding-Kaiyue]

I have the same question with you.