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The first should not make a difference (TF is actually implemented on-top of TF2 for a long time now).

The second is the most likely cause here: static is not necessarily needed, but placing broadcaster in a scope that outlives that of posCallback(..) is needed, as otherwise there is no time for any subscribers to properly initialise and form a connection to your broadcaster before the message is sent. That will lead to lost messages which in turn leads to your subscribers not receiving your frames.