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There may be other issues, but the thing that jumps out to me is this:

In your function "turnToNorth()" you have a publish call in a while() loop, with no sleeps. This is probably running at 10khz+, and overflowing some buffer somewhere (you can't possibly shove that much data down a serial connection). At least put a rospy.rate() or time.sleep() in that loop, so that it runs no more than maybe 25hz to start with.