2038. String Reversion

本文介绍如何在C程序中处理包含下划线分隔的标识符,并实现字符串的反转操作。

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2038. String Reversion

Description

 Given a valid identifier in C programs, please write a program to reverse it by respectively reversing two parts separated by ‘_’.

Input

 The first line is an integer m, indicating the number of test cases.
Then there are m lines and each line contains a string. A string will contain no more than 100 characters and there is one or less ‘_’.

Output

 For each test case, print out the string reversed.

Sample Input

3
John_Smith
int_45
_me

Sample Output

nhoJ_htimS
tni_54
_em

Problem Source

10级CS程序设计


原谅我做的时候没学类,麻烦到死

#include <iostream>
#include <string>
using namespace std;

int main()
{
	int m;
	cin>>m;
	while(m--)
	{
		string str,left,right;
		cin>>str;
		int count;
		bool bo=true;
		//cout<<str.length()<<endl;
		for(int i=0;i<str.length();i++)
		{
			if(str[i]=='_')
			{
				bo=false;
				break;
			}
		}
		if(bo)
		{
			if(str.length()==2)
				cout<<str[1]<<str[0]<<endl;
			else
			{
				for(int i=0;i<=str.length()/2;i++)
				{
					int temp=str[i];
					str[i]=str[str.length()-1-i];
					str[str.length()-1-i]=temp;
				}
				if(str.length()%2==0)
				{
					int temp=str[str.length()/2-1];
					str[str.length()/2-1]=str[str.length()/2];
					str[str.length()/2]=temp;
				}
				cout<<str<<endl;
			}
			continue;
		}
		for(count=0 ;str[count]!='_';count++){}
		//cout<<count<<endl;
		if(str[0]=='_')
		{
			cout<<'_';
			for(int i=str.length()-1;i>=1;i--)
				cout<<str[i];
			cout<<endl;
			continue;
		}
		if(count==str.length()-1)
		{
			for(int i=str.length()-2;i>=0;i--)
				cout<<str[i];
			cout<<'_'<<endl;
			continue;
		}
		left=str.substr(0,count);
		if(left.length()==2)
		{
			int temp=left[0];
			left[0]=left[1];
			left[1]=temp;
		}
		else
		{
			for(int i=0;i<=left.length()/2;i++)
			{
				int temp=left[i];
				left[i]=left[left.length()-1-i];
				left[left.length()-1-i]=temp;
			}
			if(left.length()%2==0)
			{
				int temp=left[left.length()/2-1];
				left[left.length()/2-1]=left[left.length()/2];
				left[left.length()/2]=temp;
			}
		}
		right=str.substr(count+1,str.length()-1-count);
		if(right.length()==2)
		{
			int temp=right[0];
			right[0]=right[1];
			right[1]=temp;
		}
		else
		{
			for(int i=0;i<=right.length()/2;i++)
			{
				int temp=right[i];
				right[i]=right[right.length()-1-i];
				right[right.length()-1-i]=temp;
			}
			if(right.length()%2==0)
			{
				int temp=right[right.length()/2-1];
				right[right.length()/2-1]=right[right.length()/2];
				right[right.length()/2]=temp;
			}
		}
		cout<<left<<'_'<<right<<endl;
	}
	return 0;
}


not found: "/home/a/ydlidar_ws/install/ydlidar_ros2_driver/share/ydlidar_ros2_driver/local_setup.bash" a@a-FR-AX-B760M-F-PRO:~/ydlidar_ws$ colcon build --symlink-install Starting >>> ydlidar_ros2_driver --- stderr: ydlidar_ros2_driver /home/a/ydlidar_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp: In function ‘int main(int, char**)’: /home/a/ydlidar_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp:44:26: error: no matching function for call to ‘rclcpp::Node::declare_parameter(const char [5])’ 44 | node->declare_parameter("port"); | ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~ In file included from /opt/ros/jazzy/include/rclcpp/rclcpp/executors/single_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp: In lambda function: /home/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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/a/ydlidar_ws/src/ydlidar_ros2_driver-master/src/ydlidar_ros2_driver_node.cpp: In lambda function: /home/a/ydlidar_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/a/ydlidar_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/a/ydlidar_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] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:139:CMakeFiles/ydlidar_ros2_driver_node.dir/all] 错误 2 gmake: *** [Makefile:146:all] 错误 2 --- Failed <<< ydlidar_ros2_driver [8.86s, exited with code 2] Summary: 0 packages finished [9.20s] 1 package failed: ydlidar_ros2_driver 1 package had stderr output: ydlidar_ros2_driver a@a-FR-AX-B760M-F-PRO:~/ydlidar_ws$
05-28
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