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The way you specify the pose callback is wrong. Have a look at this tutorial. Alternatively you can use boost::bind, e.g.:

ros::ServiceServer service = nh.advertiseService<epsilon::Pose::Request, epsilon::Pose::Response>("/epsilon/get_pose", boost::bind(&PoseServer::compute_Pose, server, _1, _2));

Your method compute_Pose needs to be public.

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