Subscriber and publisher in a file

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I am using ubuntu 16.04 kinetic I am trying to get pose information from Phantom omni device and send the pose information to my robotic arm in gazebo. For now, my subscribe node works well but I would like to add publisher part in the same file. Do I need to use different nodeHandle with the subscriber for the publisher? Can I put the following line things into the main function and use the callback function for the publisher? ros::Publisher endPose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100, popub_callback);

Here is my subscribe node to get pose information from Phantom omni

#include "ros/ros.h"
#include <sstream>
#include "geometry_msgs/PoseStamped.h"
#include <vector>

std::vector<geometry_msgs::PoseStamped::ConstPtr> pose;

double x_current = 0;
double y_current = 0;
double z_current = 0;
double x_quat = 0;
double y_quat = 0;
double z_quat = 0;
double w_quat = 0;

void po_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) {

   ROS_INFO_STREAM("Received pose: " << msg);
    x_current = msg->pose.position.x;
    y_current = msg->pose.position.y;
    z_current = msg->pose.position.z;
    x_quat = msg->pose.orientation.x;
    y_quat = msg->pose.orientation.y;
    z_quat = msg->pose.orientation.z;
    w_quat = msg->pose.orientation.w;

        ROS_INFO_STREAM(x_current);
        ROS_INFO_STREAM(y_current);
        ROS_INFO_STREAM(z_current);
        ROS_INFO_STREAM(x_quat);
        ROS_INFO_STREAM(y_quat);
        ROS_INFO_STREAM(z_quat);
        ROS_INFO_STREAM(w_quat);

  // pose.push_back(msg);
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "pose_subscriber");
    ros::NodeHandle nh;
    ros::Subscriber endPose_sub = nh.subscribe("/omniEthernet/pose/", 100, po_callback);

    ros::spin();

    return(0);
}