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If I am not mistaken if you try to use two different ROS versions when you exchange information via a topic/service you will get an error indicating that there is an mismatch in the md5sum of the msgs.

Something like this: https://answers.ros.org/question/226746/subcribe-and-publish-md5-error/

Why don't you update your raspberry pi to ubuntu 18.04 and install ROS melodic? The kinect version of ROS has already reached its end of life.