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I was able to find two things after trial and error with a coworker. The flyTopic needed to be with "sonar_height" which connects with the range or height off the ground, and the geometry_msgs:Twist will still need to "cmd_vel" instead of "move_base". The other thing (which made me feel really silly) was that you need ros::spingOnce(); in the while(ros::ok()), otherwise the program won't get any of the callbacks.

Now I'm having issues with the time portion so I've started debugging that. If anyone else sees anything, please let me know!