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Your error is saying that ego_points.cpp is not a valid name (for example a Node name or Topic name).
In your file, when you call ros::init you try to set the node's name to ego_points.cpp, but this isn't a valid name:
ros::init(argc, argv, "ego_points.cpp");
Maybe you can just use ego_points as the node name instead:
ros::init(argc, argv, "ego_points");
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