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I found my own solution.

When defining a publisher, if you're trying to publish to the top level you must add a '/' to the front of the path. For example;

nh.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 10);

publishes to the topic;

/diagnostics

While

nh.advertise<diagnostic_msgs::DiagnosticArray>("diagnostics", 10);

publishes to the

node_name/diagnostics

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