ydlidar-master修改为ydlidar

本文详细解析了在ROS中遇到的错误:“[lidar_view.launch] is neither a launch file in package [ydlidar-master] nor is [ydlidar-master] a launch file name”,并提供了解决方案。主要原因是包名中含有-符号,导致catkin_make无法正确识别。解决办法是将包名ydlidar-master改为ydlidar。

问题描述:

[lidar_view.launch] is neither a launch file in package [ydlidar-master] nor is [ydlidar-master] a launch file name
The traceback for the exception was written to the log file
原因:

参考:https://answers.ros.org/question/143496/roslaunch-is-neither-a-launch-file-in-package-nor-is-a-launch-file-name/

使用命令:

并没有找到包ydlidar-master。所以ROS中包的名称中不能有“-”符号,否则,catkin_make编译无法识别此包名,导致上面错误。

解决:将上面包名ydlidar-master修改为ydlidar即搞定。

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$
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