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My best guess is that this error is caused by you setting the queue_size to 1. Even though you are sleeping for a full second, you are trying to publish very quickly (three messages right in a row). If you setup your publisher to have a bit more of a queue, it will have time to publish all messages in the queue before trying to publish again on the next loop.

Read more here: http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers

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