The first error is still present for me, though:
/home/bouffard/dev/ros/ros_flyer/flyer_controller/nodes/controller.cpp:
In member function ‘void
flyer_controller::Controller::controlModesStatusCallback(const
ros::MessageEvent<const
flyer_controller::control_mode_status_<std::allocator<void> > >&)’:
/home/bouffard/dev/ros/ros_flyer/flyer_controller/nodes/controller.cpp:198:
error: invalid initialization of reference of type ‘const
flyer_controller::control_mode_statusPtr&’ from expression of type
‘boost::shared_ptr<const
flyer_controller::control_mode_status_<std::allocator<void> > >’
The error is saying that you're initializing a reference to a pointer from a reference to a const pointer. It's an equivalent error to this:
const char* foo = "hello";
char* bar = foo;
blah.cpp:4: error: invalid conversion from ‘const char*’ to ‘char*’
In this case you need to be using:
const flyer_controller::control_mode_statusConstPtr& msg = event.getMessage();
Josh