apollo中common借用编译报错

借用apollo3.0的common模块编写自己的控制代码，里面节点还是用的原来就有的Chassis和ControlCommand，但是在编译时遇到了如下问题：
adaptermanager：

REGISTER_ADAPTER(Chassis);
  REGISTER_ADAPTER(ControlCommand);

message adapters：
using ChassisAdapter = Adapterapollo::vehicle::Chassis;
using ControlCommandAdapter = Adapterapollo::control::ControlCommand;

运行结果及报错内容

[ 31%] Building CXX object driver/modules/driver/SX2306_driver/CMakeFiles/SX2306_driver.dir/__/__/common/adapters/adapter_manager.cc.o
In file included from /opt/ros/noetic/include/ros/serialization.h:37,
                 from /opt/ros/noetic/include/ros/publisher.h:34,
                 from /opt/ros/noetic/include/ros/node_handle.h:32,
                 from /opt/ros/noetic/include/ros/ros.h:45,
                 from /home/j01058261/driver_test/src/driver/./modules/common/time/time.h:35,
                 from /home/j01058261/driver_test/src/driver/./modules/common/adapters/adapter.h:39,
                 from /home/j01058261/driver_test/src/driver/./modules/common/adapters/adapter_manager.h:24,
                 from /home/j01058261/driver_test/src/driver/modules/common/adapters/adapter_manager.cc:17:
/opt/ros/noetic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum::value(const M&) [with M = apollo::vehicle::Chassis]’:
/opt/ros/noetic/include/ros/message_traits.h:254:102:   required from ‘const char* ros::message_traits::md5sum(const M&) [with M = apollo::vehicle::Chassis]’
/opt/ros/noetic/include/ros/publisher.h:117:38:   required from ‘void ros::Publisher::publish(const M&) const [with M = apollo::vehicle::Chassis]’
/home/j01058261/driver_test/src/driver/./modules/common/adapters/adapter_manager.h:246:3:   required from here
/opt/ros/noetic/include/ros/message_traits.h:125:14: error: ‘const class apollo::vehicle::Chassis’ has no member named ‘__getMD5Sum’
  125 |     return m.__getMD5Sum().c_str();
      |            ~~^~~~~~~~~~~
/opt/ros/noetic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::DataType::value(const M&) [with M = apollo::vehicle::Chassis]’:
/opt/ros/noetic/include/ros/message_traits.h:263:104:   required from ‘const char* ros::message_traits::datatype(const M&) [with M = apollo::vehicle::Chassis]’
/opt/ros/noetic/include/ros/publisher.h:119:11:   required from ‘void ros::Publisher::publish(const M&) const [with M = apollo::vehicle::Chassis]’
/home/j01058261/driver_test/src/driver/./modules/common/adapters/adapter_manager.h:246:3:   required from here
/opt/ros/noetic/include/ros/message_traits.h:142:14: error: ‘const class apollo::vehicle::Chassis’ has no member named ‘__getDataType’
  142 |     return m.__getDataType().c_str();
      |            ~~^~~~~~~~~~~~~

proto是用protoc编译的XX.pb.cc和XX.pb.h，版本3.3.0

我的解答思路和尝试过的方法

个人感觉是proto文件直接通过了ros topic通讯导致的错误，apollo代码理解不充分，不知是哪里疏漏了，请各位指教。