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I think it's just a typo :

pose.pose.orientation.x = q.x();
pose.pose.orientation.y = q.y();
pose.pose.orientation.z = q.z();
pose.pose.orientation.x = q.w();

Should be :

pose.pose.orientation.x = q.x();
pose.pose.orientation.y = q.y();
pose.pose.orientation.z = q.z();
pose.pose.orientation.w = q.w();

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