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nav_msgs/OccupancyGrid is not a topic, is a message type. the topic in the tutorial you point out is "/robot0/odom"

when you launch the packages in ros do in another console "rostopic list " ..... find the topic you like then do "rostopic info + <topic_name>" that will show you what kind of message the subscriber needs. then follow the tutorial and you should get your sub callback going.

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