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Put a "&" in front of controllerStateCB: ros::Subscriber sub = handle.subscribe("r_arm_controller/state", 1000, &controllerStateCB); ;)

Put a "&" in front of ~~controllerStateCB:~~ controllerStateCB ;)

 ros::Subscriber sub = handle.subscribe("r_arm_controller/state", 1000, &controllerStateCB);&controllerStateCB);
 ;)

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