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This is a ROS type:

const tf::TransformListener tf_listener_;

I'm almost certain that is the cause of the error you are seeing. If you want to keep it in the global scope, you could use a pointer and initialise that in your main(..).

This is a ROS type:type and it internally initialises other ROS types:

const tf::TransformListener tf_listener_;

I'm almost certain that is the cause of the error you are seeing. If you want to keep it in the global scope, you could use a pointer and initialise that in your main(..).