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I would do the following checks:

Do not run this publisher node. Simply check the message type by rostopic info mavros/setpoint_position/global
If the message type is correct and matching (e.g. geographic_msgs/GeoPoseStamped), and the similar error message persists, then it could be due to the fact that there are 2 different versions of the message type geographic_msgs/GeoPoseStamped in your computer. Make sure to have the same version of geographic_msgs/GeoPoseStamped to resolve this issue.

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