colcon build error

[dengxingyu]

some error report when I build the ros2 packages hdl_global_localization

global_localization_bbs.hpp:6:10: fatal error: nav_msgs/msg/occupancy_grid.hpp: 没有那个文件或目录
6 | #include <nav_msgs/msg/occupancy_grid.hpp>

occupancy_gridmap.hpp:7:10: fatal error: nav_msgs/msg/occupancy_grid.hpp: 没有那个文件或目录
7 | #include <nav_msgs/msg/occupancy_grid.hpp>

need including the nav_msgs packages in the cmake and package.xml file

[dengxingyu]

error when build hdl_localization

hdl_localization_nodelet.cpp:148:14: error: could not convert ‘ndt’ from ‘boost::shared_ptr<fast_gicp::NDTCuda<pcl::PointXYZI, pcl::PointXYZI> >’ to ‘pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>::Ptr’ {aka ‘std::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI> >’}
148 | return ndt;
| ^~~
| |
| boost::shared_ptr<fast_gicp::NDTCuda<pcl::PointXYZI, pcl::PointXYZI> >

error: no match for ‘operator=’ (operand types are ‘pcl::Filterpcl::PointXYZI::Ptr’ {aka ‘std::shared_ptr<pcl::Filterpcl::PointXYZI >’} and ‘boost::shared_ptr<pcl::VoxelGridpcl::PointXYZI >’)
160 | downsample_filter = voxelgrid;
| ^~~~~~~~~