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Several things looks strange in this. For example:
po_callback
in your publishers advertise
statement?geometry_msgs::PoseStamped
. And then you try modify that message to be of type std_msgs::Float32MultiArray
so it can be published. That is not possible.I suggest you really try to break your code down to small bits that actually compiles and works. Make a version that only subscribes to the /omniEthernet/pose/
and make sure that works. Then make a version that only publishes to /to_uc
0 and make sure that works. Then move on...