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p.orientation.x = 180;

orientation is a quaternion, not an RPY triplet. Assigning 180 to it does not do what it would seem you assume it does.

See the geometry_msgs/Pose documentation.

You may want to read up on quaternions, the ROS wiki has some pages about them (but note they are not a ROS invention, it's generic mathematical concept): tf2/Tutorials/Quaternions.

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