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I didn't test it yet, but try replacing your subscription to this:


n.subscribe <control_msgs::jointcontrollerstate>
("/rrbot/joint2_position_controller/state", 10, boost::bind(&PublishOdometry::jointStateCallback2,this,_1,1),this)


I didn't test it yet, but try replacing your subscription to this:


n.subscribe <control_msgs::jointcontrollerstate>
("/rrbot/joint2_position_controller/state", 10, boost::bind(&PublishOdometry::jointStateCallback2,this,_1,1),this)boost::bind(&PublishOdometry::jointStateCallback2,this,_1,1),this);