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In the end, this is not a ROS but a python question.

You cannot have self.command as a parameter to a function.

You might want to read a bit up on what self means in python, there are a lot of pages out there about this. This seems to be the main reason for your issues...

some more hints:

• it might make sense to have self as the first parameter of your class methods (i.e. def fct(self, var1, var2))
• self.command below in the main doesn't make sense. You are not "inside" the class...