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The position values look like they're getting to the callback okay, but then you're not doing anything with them in the callback. I can't see where posi.x or posi.y are defined, but what if instead of: def pose_callback(msg): print(msg.x,msg.y,msg.theta) return you had: def pose_callback(msg): posi.x = msg.x posi.y = msg.y print(posi.x,...

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