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void BaseModule::KinematicsPoseMsgCallback( manipulator_base_module_msgs::KinematicsPose msg)
{
  [..]
}

I'm not sure, but it could be that you are seeing the behaviour you report because you setup your callback to get a KinematicsPose instance by value, instead of by reference.

Could you try changing the callback to:

void BaseModule::KinematicsPoseMsgCallback( manipulator_base_module_msgs::KinematicsPoseConstPtr& msg)

that should probably make it work the way you expect.