Ros2 Humble Ubuntu 22.04 colcon build error (error: ‘Node’ in namespace ‘rclcpp’ does not name a type...)

[TacHuynh]

colcon build --symlink-install produce compiling error

How to fix?
Thanks.

th@th-UpProSquared:/ros2_ws1$ colcon build --symlink-install
Starting >>> hoverboard_driver
--- stderr: hoverboard_driver
In file included from /opt/ros/humble/include/control_toolbox/control_toolbox/pid.hpp:41,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/pid.hpp:3,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:2:
/opt/ros/humble/include/realtime_tools/realtime_tools/realtime_buffer.h:22:100: note: ‘#pragma message: This header include is deprecated. Please update your code to use 'realtime_buffer.hpp' header.’
22 | "This header include is deprecated. Please update your code to use 'realtime_buffer.hpp' header.") //NOLINT
| ^
In file included from /opt/ros/humble/include/control_toolbox/control_toolbox/pid.hpp:41,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/pid.hpp:3,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/hoverboard_driver.hpp:34,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp:15:
/opt/ros/humble/include/realtime_tools/realtime_tools/realtime_buffer.h:22:100: note: ‘#pragma message: This header include is deprecated. Please update your code to use 'realtime_buffer.hpp' header.’
22 | "This header include is deprecated. Please update your code to use 'realtime_buffer.hpp' header.") //NOLINT
| ^
In file included from /home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:2:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/pid.hpp:122:17: error: ‘Node’ in namespace ‘rclcpp’ does not name a type
122 | rclcpp::Node::SharedPtr node_;
| ^~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp: In member function ‘void PID::init(double, double, double, double, double, double, bool, double, double)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:17:25: error: ‘get_logger’ is not a member of ‘rclcpp’
17 | RCLCPP_INFO(rclcpp::get_logger("hoverboard_driver"), "Initialize PID");
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:17:5: error: ‘RCLCPP_INFO’ was not declared in this scope; did you mean ‘RCLCPP_IMPORT’?
17 | RCLCPP_INFO(rclcpp::get_logger("hoverboard_driver"), "Initialize PID");
| ^~~~~~~~~~~
| RCLCPP_IMPORT
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:26:33: error: ‘get_logger’ is not a member of ‘rclcpp’
26 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Initialized PID: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:26:88: error: invalid operands of types ‘const char [20]’ and ‘double’ to binary ‘operator<<’
26 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Initialized PID: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ~~~~~~~~~~~~~~~~~~~~~ ^ ~
| | |
| const char [20] double
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:26:5: error: ‘RCLCPP_DEBUG_STREAM’ was not declared in this scope
26 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Initialized PID: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ^~~~~~~~~~~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp: In member function ‘void PID::setParameters(double, double, double, double, double, double, bool)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:81:33: error: ‘get_logger’ is not a member of ‘rclcpp’
81 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID Gains: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:81:89: error: invalid operands of types ‘const char [21]’ and ‘double’ to binary ‘operator<<’
81 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID Gains: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ~~~~~~~~~~~~~~~~~~~~~~ ^~ ~
| | |
| const char [21] double
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:81:5: error: ‘RCLCPP_DEBUG_STREAM’ was not declared in this scope
81 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID Gains: F=" << f << ", P=" << gains.p_gain_ << ", I=" << gains.i_gain_ << ", D=" << gains.d_gain_ << ", out_min=" << out_min_ << ", out_max=" << out_max_);
| ^~~~~~~~~~~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp: In member function ‘void PID::setOutputLimits(double, double)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:88:33: error: ‘get_logger’ is not a member of ‘rclcpp’
88 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID output limits: lower=" << out_min_ << ", upper=" << out_max_);
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:88:101: error: invalid operands of types ‘const char [33]’ and ‘double’ to binary ‘operator<<’
88 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID output limits: lower=" << out_min_ << ", upper=" << out_max_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^~ ~~~~~~~~
| | |
| const char [33] double
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:88:5: error: ‘RCLCPP_DEBUG_STREAM’ was not declared in this scope
88 | RCLCPP_DEBUG_STREAM(rclcpp::get_logger("hoverboard_driver"), "Update PID output limits: lower=" << out_min_ << ", upper=" << out_max_);
| ^~~~~~~~~~~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp: In member function ‘double PID::clamp(const double&, const double&, const double&)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:94:13: error: ‘Clock’ is not a member of ‘rclcpp’
94 | rclcpp::Clock clock;
| ^~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:97:21: error: ‘get_logger’ is not a member of ‘rclcpp’
97 | rclcpp::get_logger("hoverboard_driver"), clock, 1000000000,
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:98:22: error: invalid operands of types ‘const char [7]’ and ‘const double’ to binary ‘operator<<’
98 | "Clamp " << value << " to upper limit " << upper_limit);
| ~~~~~~~~ ^~ ~~~~~
| | |
| | const double
| const char [7]
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:96:9: error: ‘RCLCPP_DEBUG_STREAM_THROTTLE’ was not declared in this scope
96 | RCLCPP_DEBUG_STREAM_THROTTLE(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:102:21: error: ‘get_logger’ is not a member of ‘rclcpp’
102 | rclcpp::get_logger("hoverboard_driver"), clock, 1000000000,
| ^~~~~~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:103:22: error: invalid operands of types ‘const char [7]’ and ‘const double’ to binary ‘operator<<’
103 | "Clamp " << value << " to lower limit " << upper_limit);
| ~~~~~~~~ ^~ ~~~~~
| | |
| | const double
| const char [7]
/home/th/ros2_ws1/src/hoverboard-driver/hardware/pid.cpp:101:9: error: ‘RCLCPP_DEBUG_STREAM_THROTTLE’ was not declared in this scope
101 | RCLCPP_DEBUG_STREAM_THROTTLE(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/hoverboard_driver.hpp:34,
from /home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp:15:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/include/hoverboard_driver/pid.hpp:122:17: error: ‘Node’ in namespace ‘rclcpp’ does not name a type
122 | rclcpp::Node::SharedPtr node_;
| ^~~~
gmake[2]: *** [CMakeFiles/hoverboard_driver.dir/build.make:90: CMakeFiles/hoverboard_driver.dir/hardware/pid.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
/home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp: In member function ‘virtual hardware_interface::return_type hoverboard_driver::hoverboard_driver::read(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp:336:57: warning: unused parameter ‘period’ [-Wunused-parameter]
336 | const rclcpp::Time &time, const rclcpp::Duration &period)
| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
/home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp: In member function ‘virtual hardware_interface::return_type hoverboard_driver::hoverboard_driver::write(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/th/ros2_ws1/src/hoverboard-driver/hardware/hoverboard_driver.cpp:440:27: warning: unused parameter ‘time’ [-Wunused-parameter]
440 | const rclcpp::Time &time, const rclcpp::Duration &period)
| ~~~~~~~~~~~~~~~~~~~~^~~~
gmake[2]: *** [CMakeFiles/hoverboard_driver.dir/build.make:76: CMakeFiles/hoverboard_driver.dir/hardware/hoverboard_driver.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/hoverboard_driver.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< hoverboard_driver [16.8s, exited with code 2]

Summary: 0 packages finished [18.0s]
1 package failed: hoverboard_driver
1 package had stderr output: hoverboard_driver
th@th-UpProSquared:~/ros2_ws1$

[Glistore]

Hey, any updates? I'm facing the same error