If your ROS topics won't publish, make sure that you subscribe to the topic AFTER it is advertised, otherwise it won't work. For example, if you have one program that is subscribed to an advertised topic, then the program advertising the topic is closed, the topic is unadvertised (right?). When this program runs again, and the topic re-advertised, it will not automatically reconnect with the program that was already subscribed to this topic - resubscribe!
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