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I didn't check the posted code, but there is a working C++ example here:

https://github.com/GAVLab/gavlab_atrv/blob/master/gavlab_atrv/src/atrv.cc

https://github.com/GAVLab/gavlab_atrv/blob/master/gavlab_atrv_node/src/atrv_node.cc

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