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if (ros::param::has("/rateFilterUWB")) {
    ros::param::get("/rateFilterUWB", rateFilterUWB);
    ros::Rate loop_rate(rateFilterUWB);
}
else
ros::Rate loop_rate(100);

Your issue is right here -- you have scoped the definition of the loop_rate variable.

You could use a default value parameter to fix this.

double rate;
ros::param::param<double>("/rateFilterUWB", rate, 100);

if (ros::param::has("/rateFilterUWB")) {
     ros::param::get("/rateFilterUWB", rateFilterUWB);
     ros::Rate loop_rate(rateFilterUWB);
 }
 else
 ros::Rate loop_rate(100);

Your issue is right here -- you have scoped the definition of the loop_rate variable.

You could use a default value parameter to fix this.

double rate;
ros::param::param<double>("/rateFilterUWB", rate, 100);