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@TristanKpka take a look at this post: https://answers.ros.org/question/272979/rosjava-publishing-to-a-topic-based-on-user-input-button/.

You need to create a node that can publish something "on demand", and the call that method whenever you want.

Unless you need a package that was already written in Cpp, I would just use the regular nodes provided by rosjava. Those will give you the functionality you need to publish messages.

A bit late, but hope it helps!