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Success! I was able to work through my issues. I ran into a couple things that I had done wrong.

1) I had initially set the IP of the ROS connection to my ROS core node instead of the TCP Endpoint node. 2) I had created a ROS Connection game object and filled it with info, but then discovered the Robotics dropdown tab and had been using that. Under the hood my subscriber will still using the game object instead of the dropdown menu option. Reenabling the game object, and setting it to the TCP connection node instead of ROS master was enough to get things to work.