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I have finally found out! I only had to chage the ros::spin() to a ros::spinOnce() and put iy in the while loop with the subscriber outside the while loop. Thank you very much for your help.

I have finally found out! I only had to chage the ros::spin() to a ros::spinOnce() and put iy it in the while loop with the subscriber outside the while loop. Thank you very much for your help.

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