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Have you verified that topics are hooked up correctly rostopic info or rqt graph? And have you verified that they're being published correctly with rostopic echo?

You also appear not to be spinning anywhere. There's a tutorial for writing a publisher here: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

And debugging tools can be found here: http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics

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