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Finally found a working solution in dornhege's answer here

Changing my subscriber line to

os::Subscriber sub2=n.subscribe<nav_msgs::OccupancyGrid> ("map",1, boost::bind(&mapcallback, _1, &test));

Compiled, but I still have to test to make sure it's doing what I want. My error the last time I tried the brackets was I had a space between subscribe and <nav_msgs...