DECLARE_SERIAL(class_name)

本文详细介绍了C++中用于对象串行化和动态访问的宏:DECLARE_SERIAL、DECLARE_DYNAMIC和IMPLEMENT_DYNAMIC。阐述了它们的功能、用法及在实际开发中的应用。

DECLARE_SERIAL(class_name)

参数: class_name 类的实际名字(不用引号括起来)。 
说明:
DECLARE_SERIAL为可以串行化的CObject的派生类生成了必要的C++代码。
串行化是指将对象的内容写入文件或从文件读入对象的内容的过程。
在.H模块中使用DECLARE_SERIAL宏,然后在所有需要访问这个类的对象的.CPP模块中包含这个模块。
如果在类声明中包含了DECLARE_SERIAL宏,那么必须在类实现中包含IMPLEMENT_SERIAL宏。
DECLARE_SERIAL宏包含了DECLARE_DYNAMIC和DECLARE_DYNCREATE的所有功能。
你可以用AFX_API宏为那些使用了DECLARE_SERIAL和IMPLEMENT_SERIAL宏的类自动引出CArchive提取操作符。用下面的代码将类声明(在.H文件中)括起来:
#undef AFX_API
#define AFX_API AFX_EXT_CLASS
<这里是你的类声明>
#undef AFX_API
#define AFX_API
关于DECLARE_SERIAL宏的更多信息参见“Visual C++程序员指南”中的“CObject类主题”。

DECLARE_DYNAMIC

DECLARE_DYNAMIC( class_name )

参数: class_name 类的实际名字(不用引号括起来)。 
说明:
当你从CObject继承一个类的时候,这个宏加入了访问类的运行时信息的能力。
在类的头文件(.H)中加入DECLARE_DYNAMIC宏,然后在所有需要访问这个类的对象的.CPP模块中包含这个头文件。
如果你按照前面描述的方式使用了DECLARE_DYNAMIC和IMPLEMENT_DYNAMIC宏,你就可以在运行时利用RUNTIME_CLASS宏和CObject::IsKindOf函数来确定对象所属的类。
如果在类声明中包含了DECLARE_DYNAMIC,那么必须在类的实现中包含IMPLEMENT_DYNAMIC宏。
有关DECLARE_DYNAMIC宏的更多信息参见“Visual C++程序员指南”中的“CObject类主题”。

IMPLEMENT_DYNAMIC

IMPLEMENT_DYNAMIC( class_name, base_class_name )

参数: class_name 类的实际名字(不用引号括起来)。 base_class_name 基类的名字(不要引号括起来)。 
说明:
这个宏为动态的CObject派生类生成了必要的C++代码,使其能够在运行时访问类的名字及其在继承结构中的位置。在.CPP模块中使用IMPLEMENT_DYNAMIC宏,然后一次性地连接生成的目标代码。
有关的更多信息参见“Visual C++程序员指南”中的“CObject类”主题。

le_threaded_executor.hpp:28, from /opt/ros/jazzy/include/rclcpp/rclcpp/executors.hpp:22, from /opt/ros/jazzy/include/rclcpp/rclcpp/rclcpp.hpp:172, from /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:23: /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:44:26: note: candidate expects 4 arguments, 1 provided 44 | node->declare_parameter("port"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:44:26: note: couldn’t deduce template parameter ‘ParameterT’ 44 | node->declare_parameter("port"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:51:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [13])’ 51 | node->declare_parameter("ignore_array"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:51:26: note: candidate expects 4 arguments, 1 provided 51 | node->declare_parameter("ignore_array"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:51:26: note: couldn’t deduce template parameter ‘ParameterT’ 51 | node->declare_parameter("ignore_array"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:56:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [9])’ 56 | node->declare_parameter("frame_id"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:56:26: note: candidate expects 4 arguments, 1 provided 56 | node->declare_parameter("frame_id"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:56:26: note: couldn’t deduce template parameter ‘ParameterT’ 56 | node->declare_parameter("frame_id"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:62:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [9])’ 62 | node->declare_parameter("baudrate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:62:26: note: candidate expects 4 arguments, 1 provided 62 | node->declare_parameter("baudrate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:62:26: note: couldn’t deduce template parameter ‘ParameterT’ 62 | node->declare_parameter("baudrate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:67:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [11])’ 67 | node->declare_parameter("lidar_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:67:26: note: candidate expects 4 arguments, 1 provided 67 | node->declare_parameter("lidar_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:67:26: note: couldn’t deduce template parameter ‘ParameterT’ 67 | node->declare_parameter("lidar_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:72:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [12])’ 72 | node->declare_parameter("device_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:72:26: note: candidate expects 4 arguments, 1 provided 72 | node->declare_parameter("device_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:72:26: note: couldn’t deduce template parameter ‘ParameterT’ 72 | node->declare_parameter("device_type"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:77:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [12])’ 77 | node->declare_parameter("sample_rate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:77:26: note: candidate expects 4 arguments, 1 provided 77 | node->declare_parameter("sample_rate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:77:26: note: couldn’t deduce template parameter ‘ParameterT’ 77 | node->declare_parameter("sample_rate"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:82:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [21])’ 82 | node->declare_parameter("abnormal_check_count"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:82:26: note: candidate expects 4 arguments, 1 provided 82 | node->declare_parameter("abnormal_check_count"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:82:26: note: couldn’t deduce template parameter ‘ParameterT’ 82 | node->declare_parameter("abnormal_check_count"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:90:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [17])’ 90 | node->declare_parameter("fixed_resolution"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:90:26: note: candidate expects 4 arguments, 1 provided 90 | node->declare_parameter("fixed_resolution"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:90:26: note: couldn’t deduce template parameter ‘ParameterT’ 90 | node->declare_parameter("fixed_resolution"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:95:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 95 | node->declare_parameter("reversion"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:95:26: note: candidate expects 4 arguments, 1 provided 95 | node->declare_parameter("reversion"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:95:26: note: couldn’t deduce template parameter ‘ParameterT’ 95 | node->declare_parameter("reversion"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:100:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [9])’ 100 | node->declare_parameter("inverted"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:100:26: note: candidate expects 4 arguments, 1 provided 100 | node->declare_parameter("inverted"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:100:26: note: couldn’t deduce template parameter ‘ParameterT’ 100 | node->declare_parameter("inverted"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:104:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [15])’ 104 | node->declare_parameter("auto_reconnect"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:104:26: note: candidate expects 4 arguments, 1 provided 104 | node->declare_parameter("auto_reconnect"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:104:26: note: couldn’t deduce template parameter ‘ParameterT’ 104 | node->declare_parameter("auto_reconnect"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:109:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [16])’ 109 | node->declare_parameter("isSingleChannel"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:109:26: note: candidate expects 4 arguments, 1 provided 109 | node->declare_parameter("isSingleChannel"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:109:26: note: couldn’t deduce template parameter ‘ParameterT’ 109 | node->declare_parameter("isSingleChannel"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:114:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 114 | node->declare_parameter("intensity"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:114:26: note: candidate expects 4 arguments, 1 provided 114 | node->declare_parameter("intensity"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:114:26: note: couldn’t deduce template parameter ‘ParameterT’ 114 | node->declare_parameter("intensity"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:119:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [18])’ 119 | node->declare_parameter("support_motor_dtr"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:119:26: note: candidate expects 4 arguments, 1 provided 119 | node->declare_parameter("support_motor_dtr"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:119:26: note: couldn’t deduce template parameter ‘ParameterT’ 119 | node->declare_parameter("support_motor_dtr"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:126:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 126 | node->declare_parameter("angle_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:126:26: note: candidate expects 4 arguments, 1 provided 126 | node->declare_parameter("angle_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:126:26: note: couldn’t deduce template parameter ‘ParameterT’ 126 | node->declare_parameter("angle_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:130:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 130 | node->declare_parameter("angle_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:130:26: note: candidate expects 4 arguments, 1 provided 130 | node->declare_parameter("angle_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:130:26: note: couldn’t deduce template parameter ‘ParameterT’ 130 | node->declare_parameter("angle_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:135:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 135 | node->declare_parameter("range_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:135:26: note: candidate expects 4 arguments, 1 provided 135 | node->declare_parameter("range_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:135:26: note: couldn’t deduce template parameter ‘ParameterT’ 135 | node->declare_parameter("range_max"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:139:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 139 | node->declare_parameter("range_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:139:26: note: candidate expects 4 arguments, 1 provided 139 | node->declare_parameter("range_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:139:26: note: couldn’t deduce template parameter ‘ParameterT’ 139 | node->declare_parameter("range_min"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:144:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [10])’ 144 | node->declare_parameter("frequency"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:144:26: note: candidate expects 4 arguments, 1 provided 144 | node->declare_parameter("frequency"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:144:26: note: couldn’t deduce template parameter ‘ParameterT’ 144 | node->declare_parameter("frequency"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:149:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [21])’ 149 | node->declare_parameter("invalid_range_is_inf"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const ParameterT&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 500 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:500:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:149:26: note: candidate expects 4 arguments, 1 provided 149 | node->declare_parameter("invalid_range_is_inf"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const std::string&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 513 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:513:3: note: template argument deduction/substitution failed: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:149:26: note: couldn’t deduce template parameter ‘ParameterT’ 149 | node->declare_parameter("invalid_range_is_inf"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, const rclcpp::ParameterValue&, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 445 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:445:3: note: candidate expects 4 arguments, 1 provided /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const std::string&, rclcpp::ParameterType, const rcl_interfaces::msg::ParameterDescriptor&, bool)’ 470 | declare_parameter( | ^~~~~~~~~~~~~~~~~ /opt/ros/jazzy/include/rclcpp/rclcpp/node.hpp:470:3: note: candidate expects 4 arguments, 1 provided /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp: In lambda function: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:163:54: warning: unused parameter ‘request_header’ [-Wunused-parameter] 163 | [&laser](const std::shared_ptr<rmw_request_id_t> request_header, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:164:56: warning: unused parameter ‘req’ [-Wunused-parameter] 164 | const std::shared_ptr<std_srvs::srv::Empty::Request> req, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~ /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:165:51: warning: unused parameter ‘response’ [-Wunused-parameter] 165 | std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp: In lambda function: /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:173:54: warning: unused parameter ‘request_header’ [-Wunused-parameter] 173 | [&laser](const std::shared_ptr<rmw_request_id_t> request_header, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:174:56: warning: unused parameter ‘req’ [-Wunused-parameter] 174 | const std::shared_ptr<std_srvs::srv::Empty::Request> req, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~ /home/xianjucidi/x3pro/x3pro_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:175:51: warning: unused parameter ‘response’ [-Wunused-parameter] 175 | std::shared_ptr<std_srvs::srv::Empty::Response> response) -> bool | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ gmake[2]: *** [CMakeFiles/ydlidar_ros2_driver_node.dir/build.make:76: CMakeFiles/ydlidar_ros2_driver_node.dir/src/ydlidar_ros2_driver_node.cpp.o] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/ydlidar_ros2_driver_node.dir/all] Error 2 gmake[1]: *** Waiting for unfinished jobs.... gmake: *** [Makefile:146: all] Error 2 --- Failed <<< ydlidar_ros2_driver [11.3s, exited with code 2] Summary: 1 package finished [11.5s] 1 package failed: ydlidar_ros2_driver 1 package had stderr output: ydlidar_ros2_driver
05-16
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