catkin_make error

[WwYyFan]

I have encountered this problem,how to fix it?

/home/efun/work/glqs_origin/chess_ws/src/constrained_path_generator/src/constrained_path_generator_node.cpp: In member function ‘std::pair<trajectory_msgs::JointTrajectory_<std::allo
cator<void> >, moveit_msgs::MoveItErrorCodes_<std::allocator<void> > > ConstrainedPathGenerator::AttemptIKCartesianPath(const RobotState&, const std::vector<geometry_msgs::PoseStampe
d_<std::allocator<void> >, std::allocator<geometry_msgs::PoseStamped_<std::allocator<void> > > >&, const string&, const string&, double, double, bool)’:
/home/efun/work/glqs_origin/chess_ws/src/constrained_path_generator/src/constrained_path_generator_node.cpp:455:103: error: ‘double robot_trajectory::RobotTrajectory::getWaypointDura
tionFromStart(std::size_t) const’ is deprecated [-Werror=deprecated-declarations]
                 traj_point.time_from_start = ros::Duration(robot_traj.getWaypointDurationFromStart(idx));

/home/efun/work/glqs_origin/chess_ws/src/constrained_path_generator/src/constrained_path_generator_node.cpp: In member function ‘std::pair<trajectory_msgs::JointTrajectory_<std::allo
cator<void> >, moveit_msgs::MoveItErrorCodes_<std::allocator<void> > > ConstrainedPathGenerator::AttemptPlannedCartesianPath(const RobotState&, const std::vector<geometry_msgs::PoseS
tamped_<std::allocator<void> >, std::allocator<geometry_msgs::PoseStamped_<std::allocator<void> > > >&, const string&, const string&, const Vector3&, const Vector3&, const Vector3&,
const Vector3&, const Quaternion&, double, bool, bool)’:
/home/efun/work/glqs_origin/chess_ws/src/constrained_path_generator/src/constrained_path_generator_node.cpp:586:118: error: ‘double robot_trajectory::RobotTrajectory::getWaypointDura
tionFromStart(std::size_t) const’ is deprecated [-Werror=deprecated-declarations]
                 traj_point.time_from_start = ros::Duration(planning_res.trajectory_->getWaypointDurationFromStart(idx));
                                                                                                                      ^