std::shared_ptr<rclcpp_lifecycle::LifecycleNode> has no member named ‘lock’

[ct2034]

When try to build the repo as is under foxy using colcon build, I get:

Starting >>> nav2_costmap_filters_demo
Starting >>> nav2_gradient_costmap_plugin
Starting >>> nav2_sms_recovery
Starting >>> nav2_straightline_planner
Starting >>> sam_bot_description
Finished <<< nav2_costmap_filters_demo [0.91s]                                  
Finished <<< sam_bot_description [1.14s]                                         
--- stderr: nav2_gradient_costmap_plugin                                             
/home/chenkel/ros2/nav2_ws/src/navigation2_tutorials/nav2_gradient_costmap_plugin/src/gradient_layer.cpp: In member function ‘virtual void nav2_gradient_costmap_plugin::GradientLayer::onInitialize()’:
/home/chenkel/ros2/nav2_ws/src/navigation2_tutorials/nav2_gradient_costmap_plugin/src/gradient_layer.cpp:70:21: error: ‘using SharedPtr = class std::shared_ptr<rclcpp_lifecycle::LifecycleNode>’ {aka ‘class std::shared_ptr<rclcpp_lifecycle::LifecycleNode>’} has no member named ‘lock’
   70 |   auto node = node_.lock();
      |                     ^~~~
make[2]: *** [CMakeFiles/nav2_gradient_costmap_plugin_core.dir/build.make:63: CMakeFiles/nav2_gradient_costmap_plugin_core.dir/src/gradient_layer.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:105: CMakeFiles/nav2_gradient_costmap_plugin_core.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< nav2_gradient_costmap_plugin [6.27s, exited with code 2]
Aborted  <<< nav2_straightline_planner [10.4s]                                         
Aborted  <<< nav2_sms_recovery [11.1s]                                 

Summary: 2 packages finished [11.3s]
  1 package failed: nav2_gradient_costmap_plugin
  2 packages aborted: nav2_sms_recovery nav2_straightline_planner
  3 packages had stderr output: nav2_gradient_costmap_plugin nav2_sms_recovery nav2_straightline_planner

[SteveMacenski]

These are not for foxy, they're for Galactic and newer, sorry abotu that. You can always change the APIs to use the old shared pointers versus weak pointers. We've long ago dropped direct support for Foxy.

[ct2034]

Don't you think this should be mentioned somewhere? I guessed that already. But if I look at the repo, it only had a main branch, and no other hint on the targeted distro. And also the nav2 docs simply tells you to install the distro you want (at https://navigation.ros.org/build_instructions/index.html#install)

[SteveMacenski]

Those kinds of changes won't be made in the future so its just temporary growing pains for a project with active development and Foxy. Sorry for the inconvenience