How to publish waypoints with Pose on Ros?

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Good afternoon, I recently started working with Ros. I am working with the quadcopter. I'm making him follow several waypoints and per socket he goes normally. But when I change communication to ROS it doesn't work. Even creating publisher and subscriber. How do I publish waypoints for the quadcopter to identify and follow the route, just like in socket?

I am using Pose and Waypoint as Ros.

def where_is(agentPose_stream):
    pose = agentPose_stream.get()
    return pose

def frighten_mouse():
    rate = rospy.Rate(2) # Hz
    while not rospy.is_shutdown():
        for i in range(len(arx)):
            p = Pose()
            p.position.x = arx[i]
            p.position.y = ary[i]
            p.position.z = arz[i],
            self.pub.publish(p)
            rate.sleep()
            print("ok")