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Figured it out. Serial.print can conflict with the Serial interface used to connect to ROS but nh.loginfo("message") is a great way to be able to debug. I found that spinOnce only ran one time (it was outside of a while loop that never exited) and in the code if it doesn't run at least every 3 seconds it's going to time out.

So if you're getting timeouts make sure spinOnce is running.