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Why is your publisher in a while loop? You should use timers to schedule when each publisher runs publish(). See here: http://wiki.ros.org/roscpp_tutorials/Tutorials/Timers Also, make sure that all the calls to spin() are removed from your subscriber definitions, and then perhaps insert one single spin() at the end of your code

Why is your publisher in a while loop? You should use timers to schedule when each publisher runs publish(). publish().

Why is your publisher in a while loop? You should use timers to schedule when each publisher runs publish().publish() so your code doesn't stay in the first while loop forever

See here: http://wiki.ros.org/roscpp_tutorials/Tutorials/Timers

Also, make sure that all the calls to spin() are removed from your subscriber definitions, and then perhaps insert one single spin() at the end of your code