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posearray definition is missing

geometry_msgs::PoseArray poseArray;

Increase size of buffer in publisher

poseArrayPub = nh.advertise<geometry_msgs::PoseArray>("/normal_vectors", 1000, 1);

Try to find frame id of pointcould and use the same frame from poseArray

ROS_INFO_STREAM("frame=" << cloud_filtered.header.frame_id);

poseArray.header.frame_id="/camera_depth_optical_frame";  // check this

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