[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In member function ‘[01m[Kvoid BuildTower::moveToCartesian(double, double, double)[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:70:74:[m[K [01;31m[Kerror: [m[K‘[01m[Kwait[m[K’ was not declared in this scope
   70 |         if(future.wait_for(10ms) == std::future_status::ready && [01;31m[Kwait[m[K){
      |                                                                  [01;31m[K^~~~[m[K

[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:72:17:[m[K [01;31m[Kerror: [m[Kexpected ‘[01m[K;[m[K’ before ‘[01m[K}[m[K’ token
   72 |                 [01;31m[K}[m[K
      |                 [01;31m[K^[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:74:26:[m[K [01;31m[Kerror: [m[Kno match for ‘[01m[Koperator-[m[K’ (operand types are ‘[01m[Krclcpp::Time[m[K’ and ‘[01m[Krclcpp::TimerBase::SharedPtr[m[K’ {aka ‘[01m[Kstd::shared_ptr<rclcpp::TimerBase>[m[K’})
   74 |                 if([32m[Know()[m[K [01;31m[K-[m[K [34m[Kstart_timer_[m[K)>timeout){
      |                    [32m[K~~~~~[m[K [01;31m[K^[m[K [34m[K~~~~~~~~~~~~[m[K
      |                       [32m[K|[m[K    [34m[K|[m[K
      |                       [32m[K|[m[K    [34m[Krclcpp::TimerBase::SharedPtr {aka std::shared_ptr<rclcpp::TimerBase>}[m[K
      |                       [32m[Krclcpp::Time[m[K
In file included from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/clock.hpp:24[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/timer.hpp:27[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:30[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21[m[K,
                 from [01m[K/opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155[m[K,
                 from [01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:5[m[K:
[01m[K/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:155:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Krclcpp::Duration rclcpp::Time::operator-(const rclcpp::Time&) const[m[K’
  155 |   [01;36m[Koperator[m[K-(const rclcpp::Time & rhs) const;
      |   [01;36m[K^~~~~~~~[m[K
[01m[K/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:155:34:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Krclcpp::TimerBase::SharedPtr[m[K’ {aka ‘[01m[Kstd::shared_ptr<rclcpp::TimerBase>[m[K’} to ‘[01m[Kconst rclcpp::Time&[m[K’
  155 |   operator-([01;36m[Kconst rclcpp::Time & rhs[m[K) const;
      |             [01;36m[K~~~~~~~~~~~~~~~~~~~~~^~~[m[K
[01m[K/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:162:3:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Krclcpp::Time rclcpp::Time::operator-(const rclcpp::Duration&) const[m[K’
  162 |   [01;36m[Koperator[m[K-(const rclcpp::Duration & rhs) const;
      |   [01;36m[K^~~~~~~~[m[K
[01m[K/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:162:38:[m[K [01;36m[Knote: [m[K  no known conversion for argument 1 from ‘[01m[Krclcpp::TimerBase::SharedPtr[m[K’ {aka ‘[01m[Kstd::shared_ptr<rclcpp::TimerBase>[m[K’} to ‘[01m[Kconst rclcpp::Duration&[m[K’
  162 |   operator-([01;36m[Kconst rclcpp::Duration & rhs[m[K) const;
      |             [01;36m[K~~~~~~~~~~~~~~~~~~~~~~~~~^~~[m[K
In file included from [01m[K/usr/include/c++/11/bits/stl_algobase.h:67[m[K,
                 from [01m[K/usr/include/c++/11/bits/specfun.h:45[m[K,
                 from [01m[K/usr/include/c++/11/cmath:1935[m[K,
                 from [01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:2[m[K:
[01m[K/usr/include/c++/11/bits/stl_iterator.h:577:5:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _IteratorL, class _IteratorR> constexpr decltype ((__y.base() - __x.base())) std::operator-(const std::reverse_iterator<_Iterator>&, const std::reverse_iterator<_IteratorR>&)[m[K’
  577 |     [01;36m[Koperator[m[K-(const reverse_iterator<_IteratorL>& __x,
      |     [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/stl_iterator.h:577:5:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:74:28:[m[K [01;36m[Knote: [m[K  ‘[01m[Krclcpp::Time[m[K’ is not derived from ‘[01m[Kconst std::reverse_iterator<_Iterator>[m[K’
   74 |                 if(now() - [01;36m[Kstart_timer_[m[K)>timeout){
      |                            [01;36m[K^~~~~~~~~~~~[m[K
In file included from [01m[K/usr/include/c++/11/bits/stl_algobase.h:67[m[K,
                 from [01m[K/usr/include/c++/11/bits/specfun.h:45[m[K,
                 from [01m[K/usr/include/c++/11/cmath:1935[m[K,
                 from [01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:2[m[K:
[01m[K/usr/include/c++/11/bits/stl_iterator.h:1693:5:[m[K [01;36m[Knote: [m[Kcandidate: ‘[01m[Ktemplate<class _IteratorL, class _IteratorR> constexpr decltype ((__x.base() - __y.base())) std::operator-(const std::move_iterator<_IteratorL>&, const std::move_iterator<_IteratorR>&)[m[K’
 1693 |     [01;36m[Koperator[m[K-(const move_iterator<_IteratorL>& __x,
      |     [01;36m[K^~~~~~~~[m[K
[01m[K/usr/include/c++/11/bits/stl_iterator.h:1693:5:[m[K [01;36m[Knote: [m[K  template argument deduction/substitution failed:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:74:28:[m[K [01;36m[Knote: [m[K  ‘[01m[Krclcpp::Time[m[K’ is not derived from ‘[01m[Kconst std::move_iterator<_IteratorL>[m[K’
   74 |                 if(now() - [01;36m[Kstart_timer_[m[K)>timeout){
      |                            [01;36m[K^~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:74:41:[m[K [01;31m[Kerror: [m[Kexpected primary-expression before ‘[01m[K>[m[K’ token
   74 |                 if(now() - start_timer_)[01;31m[K>[m[Ktimeout){
      |                                         [01;31m[K^[m[K
gmake[2]: *** [CMakeFiles/build_tower.dir/build.make:76: CMakeFiles/build_tower.dir/src/build_tower.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/build_tower.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
