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You're implementing your new function in the global namespace, rather than within the class.

In you cpp file, you have a global function:

void currentPosCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)

But it should be namespaced to your class:

void CmdVelMux::currentPosCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)