sdp@sdp-desktop:~/ros2_ws$ colcon build --symlink-install Starting >>> Catch2 Starting >>> lss_ros2_control Finished <<< Catch2 [0.95s] --- stderr: lss_ros2_control In file included from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:5: /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:52: error: ‘rclcpp’ does not name a type 113 | ace::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:65: error: expected unqualified-id before ‘&’ token 113 | ype read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:64: error: expected ‘)’ before ‘&’ token 113 | type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ~ ^~ | ) /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:65: error: expected ‘;’ at end of member declaration 113 | ype read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^ | ; /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:67: error: ‘time’ does not name a type 113 | e read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:53: error: ‘rclcpp’ does not name a type 116 | ce::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:66: error: expected unqualified-id before ‘&’ token 116 | pe write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:65: error: expected ‘)’ before ‘&’ token 116 | ype write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ~ ^~ | ) /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:66: error: expected ‘;’ at end of member declaration 116 | pe write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^ | ; /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:68: error: ‘time’ does not name a type 116 | write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:478:37: error: no declaration matches ‘hardware_interface::return_type lynxmotion::LssBusHardware::read(const rclcpp::Time&, const rclcpp::Duration&)’ 478 | ware_interface::return_type LssBusHardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) | ^~~~~~~~~~~~~~ In file included from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:5: /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:113:41: note: candidate is: ‘hardware_interface::return_type lynxmotion::LssBusHardware::read(...) &’ 113 | ware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:50:11: note: ‘class lynxmotion::LssBusHardware’ defined here 50 | class LssBusHardware : public LssBusHardwareBaseInterface { | ^~~~~~~~~~~~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:523:37: error: no declaration matches ‘hardware_interface::return_type lynxmotion::LssBusHardware::write(const rclcpp::Time&, const rclcpp::Duration&)’ 523 | ware_interface::return_type LssBusHardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) | ^~~~~~~~~~~~~~ In file included from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:5: /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:116:41: note: candidate is: ‘hardware_interface::return_type lynxmotion::LssBusHardware::write(...) &’ 116 | ware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; | ^~~~~ /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:50:11: note: ‘class lynxmotion::LssBusHardware’ defined here 50 | class LssBusHardware : public LssBusHardwareBaseInterface { | ^~~~~~~~~~~~~~ In file included from /opt/ros/galactic/include/class_loader/class_loader_core.hpp:57, from /opt/ros/galactic/include/class_loader/class_loader.hpp:55, from /opt/ros/galactic/include/pluginlib/class_list_macros.hpp:40, from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:20: /opt/ros/galactic/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject::create() const [with C = lynxmotion::LssBusHardware; B = hardware_interface::SystemInterface]’: /opt/ros/galactic/include/class_loader/meta_object.hpp:216:7: required from here /opt/ros/galactic/include/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘lynxmotion::LssBusHardware’ 218 | return new C; | ^~~~~ In file included from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:5: /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:50:11: note: because the following virtual functions are pure within ‘lynxmotion::LssBusHardware’: 50 | class LssBusHardware : public LssBusHardwareBaseInterface { | ^~~~~~~~~~~~~~ In file included from /home/sdp/ros2_ws/src/LSS-ROS2-Control/include/ros2_lss_bus/ros2_lss_bus.hpp:21, from /home/sdp/ros2_ws/src/LSS-ROS2-Control/src/ros2_lss_bus.cpp:5: /opt/ros/galactic/include/hardware_interface/system_interface.hpp:168:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::read()’ 168 | virtual return_type read() = 0; | ^~~~ /opt/ros/galactic/include/hardware_interface/system_interface.hpp:177:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::write()’ 177 | virtual return_type write() = 0; | ^~~~~ make[2]: *** [CMakeFiles/ros2_lss_bus.dir/build.make:63: CMakeFiles/ros2_lss_bus.dir/src/ros2_lss_bus.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:80: CMakeFiles/ros2_lss_bus.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 --- Failed <<< lss_ros2_control [29.4s, exited with code 2] Summary: 1 package finished [32.0s] 1 package failed: lss_ros2_control 1 package had stderr output: lss_ros2_control