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What's the message type that you are publishing on topic /circles?

ros::Publisher pub = handle.advertise<std_msgs::empty>("my_topic", 1); ~~~~~~~~~~~~~~~ You are missing this part

What's the message type that you are publishing on topic /circles?

ros::Publisher pub = handle.advertise<std_msgs::empty>("my_topic", handle.advertise<std_msgs::Empty>("my_topic", 1);
                                       ~~~~~~~~~~~~~~~   You are missing this part
part