descartes_capability compilation problem

[gy2256]

OS: Ubuntu 20.04
ROS: Noetic

Errors     << descartes_capability:make /home/xv/python_joy_ws/logs/descartes_capability/build.make.000.log                                                                              
/home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp: In member function ‘bool descartes_capability::MoveGroupDescartesPathService::initializeDescartesModel(const string&, const string&, const string&)’:
/home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp:264:109: error: no matching function for call to ‘descartes_moveit::MoveitStateAdapter::initialize(planning_scene_monitor::PlanningSceneMonitorPtr&, const string&, const string&, const string&)’
  264 |       moveit_state_adapter->initialize(context_->planning_scene_monitor_, group_name, world_frame, tcp_frame);
      |                                                                                                             ^
In file included from /home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/ikfast_moveit_state_adapter.h:22,
                 from /home/xv/python_joy_ws/src/descartes_capability/include/descartes_capability/descartes_path_service_capability.h:49,
                 from /home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp:41:
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:43:16: note: candidate: ‘virtual bool descartes_moveit::MoveitStateAdapter::initialize(const string&, const string&, const string&, const string&)’
   43 |   virtual bool initialize(const std::string &robot_description, const std::string &group_name,
      |                ^~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:43:46: note:   no known conversion for argument 1 from ‘planning_scene_monitor::PlanningSceneMonitorPtr’ {aka ‘std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor>’} to ‘const string&’ {aka ‘const std::__cxx11::basic_string<char>&’}
   43 |   virtual bool initialize(const std::string &robot_description, const std::string &group_name,
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:46:16: note: candidate: ‘virtual bool descartes_moveit::MoveitStateAdapter::initialize(moveit::core::RobotModelConstPtr, const string&, const string&, const string&)’
   46 |   virtual bool initialize(robot_model::RobotModelConstPtr robot_model, const std::string &group_name,
      |                ^~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:46:59: note:   no known conversion for argument 1 from ‘shared_ptr<planning_scene_monitor::PlanningSceneMonitor>’ to ‘shared_ptr<const moveit::core::RobotModel>’
   46 |   virtual bool initialize(robot_model::RobotModelConstPtr robot_model, const std::string &group_name,
      |                           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
make[2]: *** [CMakeFiles/descartes_capability.dir/build.make:63: CMakeFiles/descartes_capability.dir/src/descartes_path_service_capability.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:499: CMakeFiles/descartes_capability.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/xv/python_joy_ws/build/descartes_capability; catkin build --get-env descartes_capability | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -