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in your code arduino code you have created object ros::NodeHandle NH;

and using as nh.initNode();

please change those to lowercase

in your code arduino code you have created object ros::NodeHandle NH;

and using as nh.initNode();

please change those to lowercase

and please remove Serial.print statements Rosserial uses the arduino's serial port for communication. By writing to the same port using Serial.print you're breaking the protocol. Hope this helps.