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I believe I tracked down the issue. I overlooked that "setCommand" was running at first without the command variables initialized to any value, so I assume they were just some unpredictable junk number. It seems like this explains the inconsistent behavior. In any case, initializing those in the init function appears to have resolved the issue.

If anyone has more insight as to what exactly was happening on the hardware_interface end, I would be glad to hear it. Thanks to anyone that read this.