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Well, you are trying to subscribe to a topic that publishes ax12_driver_core/MotorStateList, so your callback needs to accept that instead of std_msgs/String type. For that you need to have include "ax12_driver_core/MotorStateList" and replace const std_msgs::String::ConstPtr& in callback function with const ax12_driver_core::MotorStateList::ConstPtr&. Also make sure that your manifest.xml has a dependency on ax12_driver_core package.