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your code compares the pointers of the strings. These are different, because those are two unique strings. If you want to compare the content of the string, use https://www.cplusplus.com/reference/string/string/compare/ This would be in your code ...

if (commands.data.compare(scan.data) == 0)
{
   scanning(pos, flag, minAngle, maxAngle, myservo, servoPos, pub_pos, scansNum, range_msg, pub_range);
   nh.loginfo("Scanning...");
}

etc