compile issue

I compiled it in ubuntu20.04 with ros noetic, and with problem:
/home/xxx/ws_livox/src/livox_ros_driver/livox_ros_driver/lddc.cpp:343:31: required from here
/opt/ros/noetic/include/ros/message_traits.h:125:14: error: ‘const class std::shared_ptr<pcl::PointCloudpcl::PointXYZI >’ has no member named ‘__getMD5Sum’
125 | return m.__getMD5Sum().c_str();
| ~~^~~~~~~~~~~
......
/opt/ros/noetic/include/ros/message_traits.h:142:14: error: ‘const class std::shared_ptr<pcl::PointCloudpcl::PointXYZI >’ has no member named ‘__getDataType’
142 | return m.__getDataType().c_str();
......
/home/xxx/ws_livox/src/livox_ros_driver/livox_ros_driver/lddc.cpp:343:31: required from here
/opt/ros/noetic/include/ros/serialization.h:144:14: error: ‘const class std::shared_ptr<pcl::PointCloudpcl::PointXYZI >’ has no member named ‘serializationLength’
144 | return t.serializationLength();
......
/home/xxx/ws_livox/src/livox_ros_driver/livox_ros_driver/lddc.cpp:343:31: required from here
/opt/ros/noetic/include/ros/serialization.h:127:7: error: ‘const class std::shared_ptr<pcl::PointCloudpcl::PointXYZI >’ has no member named ‘serialize’
127 | t.serialize(stream.getData(), 0);
| ~~^~~~~~~~~

where in the file:

livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.cpp

Line 343 in 880c46a

p_publisher->publish(cloud);

and

livox_ros_driver/livox_ros_driver/livox_ros_driver/lddc.cpp

Line 346 in 880c46a

bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),

it seems that the Problem is the transfom betwen
pcl::shared_ptr<livox_ros::PointCloud> cloud
and
sensor_msg::PointCloud2?
someone met the questiopn?

#110 has mentioned.