Cant colcon build the pakage in the first place

[Artinmi]

hi Muhammad thanks for porting this pkg on ROS2 , when i clone the package in my ros2 environment and try to do colcon build , i get to this error in Line 239 and 240 , ( then i tried to comment and ignore it , it will fix colcon build but when it comes to run the "ros2 launch traversability_estimation traversability_estimation.launch" it gives error about that two lines that we commented) so we cant comment Lines 239 and 240. but if you dont comment them you cant do colcon build. what should i do?
this the the function that contains line 239 and 240:

and below is the error i get in colcon build if i dont comment lines 239 and 240:

[aakapatel]

Hi @Artinmi, In my implementation I have commented those lines. However I can still run the package. Can you send me snapshot of the error you get upon launching the node?

[Artinmi]

Yes of course , so you are saying that we dont need those 2 lines and we can comment them. The error im get upon to when i launch the node is this:

[Muhammad540]

@Artinmi I will look into this if i get time today. However, from the looks of it the issues seems to arise from grid map messages package. Can you confirm that grid map messages dependency is built properly ? Since the "get grid map messages info" service does have header, check the get grid map info srv structure

[Artinmi]

thanks .I did what you said and im now sure that gridmap is working properly.i am facing another problem. I have changed all the "base_link" parameters in travelsibility package and elevation mapping package to "camera_link" (bacause im just testing with my realsense camera and dont have a robot right now ) .So the problem is despite the fact that i have changed both elevation mapping and travelsibility parameters to camera_link but when i run the launch file of travelsibility i get to this error saying that he is expect a map in "camera_link" frame_id but recieved it in "" frame_id : ( i will provide you the error , elevation mapping visulization , elevation parameters , travelsibility parameters that i have changed to camera_link)

[Muhammad540]

@Artinmi , nice to see that grid map issue is resolved. Firstly, I would suggest instead of setting all frames camera_link, try constructing a static transform tree from map to baselink to camera_link. This might not solve your immediate problem, but generally a good practice. So, focusing on your problem this is a brief overview of how this works: traversability estimation node is requesting the raw elevation map from the elevation mapping node, where the service is defined. I would suggest go to the elevation mapping service, as far as i remember it is called "get raw submap" and make sure that the message it is sending to client has the frame id correctly defined to be camera_link.