[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:30:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kstart_timer_[m[K’ does not name a type
   30 |         [01;31m[Kstart_timer_[m[K = create_wall_timer(500ms, std::bind(&BuildTower::executeTowerOnce(), this));
      |         [01;31m[K^~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:31:6:[m[K [01;31m[Kerror: [m[Kexpected ‘[01m[K;[m[K’ after class definition
   31 |     }
      |      [01;31m[K^[m[K
      |      [32m[K;[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In constructor ‘[01m[KBuildTower::BuildTower()[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:17:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kjoint_cmd_pub_[m[K’ was not declared in this scope
   17 |         [01;31m[Kjoint_cmd_pub_[m[K = create_publisher<advrobotics_lab3_interfaces::msg::Joints>("joint_cmd", 10);
      |         [01;31m[K^~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:18:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kgripper_cmd_pub_[m[K’ was not declared in this scope
   18 |         [01;31m[Kgripper_cmd_pub_[m[K = create_publisher<advrobotics_lab3_interfaces::msg::Gripper>("gripper_cmd", 10);
      |         [01;31m[K^~~~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:20:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kjoint_pos_sub_[m[K’ was not declared in this scope
   20 |         [01;31m[Kjoint_pos_sub_[m[K = create_subscription<advrobotics_lab3_interfaces::msg::Joints>(
      |         [01;31m[K^~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:22:36:[m[K [01;31m[Kerror: [m[K‘[01m[KjointPosCallback[m[K’ is not a member of ‘[01m[KBuildTower[m[K’
   22 |             std::bind(&BuildTower::[01;31m[KjointPosCallback[m[K, this, std::placeholders::_1));
      |                                    [01;31m[K^~~~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:24:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kik_client_[m[K’ was not declared in this scope; did you mean ‘[01m[Krmw_client_t[m[K’?
   24 |         [01;31m[Kik_client_[m[K = create_client<advrobotics_lab3_interfaces::srv::Invkin>("invkin");
      |         [01;31m[K^~~~~~~~~~[m[K
      |         [32m[Krmw_client_t[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K At global scope:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:33:1:[m[K [01;31m[Kerror: [m[Kexpected unqualified-id before ‘[01m[Kprivate[m[K’
   33 | [01;31m[Kprivate[m[K:
      | [01;31m[K^~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In function ‘[01m[Kvoid moveToCartesian(double, double, double)[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:50:23:[m[K [01;31m[Kerror: [m[K‘[01m[Kik_client_[m[K’ was not declared in this scope; did you mean ‘[01m[Krmw_client_t[m[K’?
   50 |         auto future = [01;31m[Kik_client_[m[K->async_send_request(request);
      |                       [01;31m[K^~~~~~~~~~[m[K
      |                       [32m[Krmw_client_t[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:52:44:[m[K [01;31m[Kerror: [m[K‘[01m[Kshared_from_this[m[K’ was not declared in this scope
   52 |         rclcpp::spin_until_future_complete([01;31m[Kshared_from_this[m[K(), future);
      |                                            [01;31m[K^~~~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:61:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kjoint_cmd_pub_[m[K’ was not declared in this scope
   61 |         [01;31m[Kjoint_cmd_pub_[m[K->publish(cmd);
      |         [01;31m[K^~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:62:9:[m[K [01;31m[Kerror: [m[K‘[01m[KwaitUntilReached[m[K’ was not declared in this scope
   62 |         [01;31m[KwaitUntilReached[m[K(cmd);
      |         [01;31m[K^~~~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In function ‘[01m[Kvoid waitUntilReached(const Joints&)[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:69:27:[m[K [01;31m[Kerror: [m[K‘[01m[Kcurrent_q1_[m[K’ was not declared in this scope
   69 |             if (std::fabs([01;31m[Kcurrent_q1_[m[K - target.q1) < 2.0 &&
      |                           [01;31m[K^~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:70:27:[m[K [01;31m[Kerror: [m[K‘[01m[Kcurrent_q2_[m[K’ was not declared in this scope
   70 |                 std::fabs([01;31m[Kcurrent_q2_[m[K - target.q2) < 2.0 &&
      |                           [01;31m[K^~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:71:27:[m[K [01;31m[Kerror: [m[K‘[01m[Kcurrent_q3_[m[K’ was not declared in this scope
   71 |                 std::fabs([01;31m[Kcurrent_q3_[m[K - target.q3) < 2.0)
      |                           [01;31m[K^~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In function ‘[01m[Kvoid setGripper(double)[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:82:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kgripper_cmd_pub_[m[K’ was not declared in this scope
   82 |         [01;31m[Kgripper_cmd_pub_[m[K->publish(g);
      |         [01;31m[K^~~~~~~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:[m[K In function ‘[01m[Kvoid executeTowerOnce()[m[K’:
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:86:9:[m[K [01;31m[Kerror: [m[K‘[01m[Kstart_timer[m[K’ was not declared in this scope; did you mean ‘[01m[Kstrptime[m[K’?
   86 |         [01;31m[Kstart_timer[m[K -> cancel();
      |         [01;31m[K^~~~~~~~~~~[m[K
      |         [32m[Kstrptime[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:87:9:[m[K [01;31m[Kerror: [m[K‘[01m[KexecuteTower[m[K’ was not declared in this scope; did you mean ‘[01m[KexecuteTowerOnce[m[K’?
   87 |         [01;31m[KexecuteTower[m[K();
      |         [01;31m[K^~~~~~~~~~~~[m[K
      |         [32m[KexecuteTowerOnce[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:92:5:[m[K [01;31m[Kerror: [m[Ka function-definition is not allowed here before ‘[01m[K{[m[K’ token
   92 |     [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:127:1:[m[K [01;31m[Kerror: [m[Kexpected primary-expression before ‘[01m[Kprivate[m[K’
  127 | [01;31m[Kprivate[m[K:
      | [01;31m[K^~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:133:12:[m[K [01;35m[Kwarning: [m[Kunused variable ‘[01m[Kcurrent_q1_[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;[m[K]
  133 |     double [01;35m[Kcurrent_q1_[m[K{0.0}, current_q2_{0.0}, current_q3_{0.0};
      |            [01;35m[K^~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:133:30:[m[K [01;35m[Kwarning: [m[Kunused variable ‘[01m[Kcurrent_q2_[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;[m[K]
  133 |     double current_q1_{0.0}, [01;35m[Kcurrent_q2_[m[K{0.0}, current_q3_{0.0};
      |                              [01;35m[K^~~~~~~~~~~[m[K
[01m[K/home/ros/EENG4/AdvancedRobotics_Lab3/src/advrobotics_lab3_app/src/build_tower.cpp:133:48:[m[K [01;35m[Kwarning: [m[Kunused variable ‘[01m[Kcurrent_q3_[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;[m[K]
  133 |     double current_q1_{0.0}, current_q2_{0.0}, [01;35m[Kcurrent_q3_[m[K{0.0};
      |                                                [01;35m[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
