@43996173 空间构建错误：

tingbo@DESKTOP-NHH5E05:~/chapt8/chapt8_ws$ colcon build Starting >>> autopatrol_interfaces Starting >>> autopatrol_robot Starting >>> fishbot_application Starting >>> fishbot_description Starting >>> fishbot_navigation2 Starting >>> nav2_custom_planner Finished <<< fishbot_description [2.74s] Finished <<< fishbot_navigation2 [2.75s] Finished <<< autopatrol_interfaces [5.11s] Finished <<< fishbot_application [8.58s] Finished <<< autopatrol_robot [8.63s] --- stderr: nav2_custom_planner /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp: In member function ‘virtual void nav2_custom_planner::CustomPlanner::configure(const WeakPtr&, std::string, std::shared_ptr<tf2_ros::Buffer>, std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)’: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:19:57: error: no matching function for call to ‘declare_parameter_if_not_declared(rclcpp_lifecycle::LifecycleNode::SharedPtr&, std::string&, const char*, rclcpp::ParameterValue)’ 19 | nav2_util::declare_parameter_if_not_declared( | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ 20 | node_, name_, + ".interpolation_resolution", | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 21 | rclcpp::ParameterValue(0.1)); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:1: /opt/ros/humble/include/nav2_util/node_utils.hpp:92:6: note: candidate: ‘template<class NodeT> void nav2_util::declare_parameter_if_not_declared(NodeT, const string&, const rclcpp::ParameterValue&, const ParameterDescriptor&)’ 92 | void declare_parameter_if_not_declared( | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/humble/include/nav2_util/node_utils.hpp:92:6: note: template argument deduction/substitution failed: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:20:31: note: cannot convert ‘+(const char*)".interpolation_resolution"’ (type ‘const char*’) to type ‘const rclcpp::ParameterValue&’ 20 | node_, name_, + ".interpolation_resolution", | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:1: /opt/ros/humble/include/nav2_util/node_utils.hpp:113:6: note: candidate: ‘template<class NodeT> void nav2_util::declare_parameter_if_not_declared(NodeT, const string&, const rclcpp::ParameterType&, const ParameterDescriptor&)’ 113 | void declare_parameter_if_not_declared( | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/humble/include/nav2_util/node_utils.hpp:113:6: note: template argument deduction/substitution failed: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:20:31: note: cannot convert ‘+(const char*)".interpolation_resolution"’ (type ‘const char*’) to type ‘const rclcpp::ParameterType&’ 20 | node_, name_, + ".interpolation_resolution", | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp: In member function ‘virtual nav_msgs::msg::Path nav2_custom_planner::CustomPlanner::createPlan(const PoseStamped&, const PoseStamped&)’: /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:40:70: warning: unused parameter ‘start’ [-Wunused-parameter] 40 | CustomPlanner::createPlan(const geometry_msgs::msg::PoseStamped &start, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~ /home/tingbo/chapt8/chapt8_ws/src/nav2_custom_planner/src/nav2_custom_planner.cpp:41:63: warning: unused parameter ‘goal’ [-Wunused-parameter] 41 | const geometry_msgs::msg::PoseStamped &goal) { | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~ gmake[2]: *** [CMakeFiles/nav2_custom_planner_Plugin.dir/build.make:76：CMakeFiles/nav2_custom_planner_Plugin.dir/src/nav2_custom_planner.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/nav2_custom_planner_Plugin.dir/all] 错误 2 gmake: *** [Makefile:146：all] 错误 2 --- Failed <<< nav2_custom_planner [25.2s, exited with code 2] Summary: 5 packages finished [31.0s] 1 package failed: nav2_custom_planner 1 package had stderr output: nav2_custom_planner