Hi, You can use boost::bind to add arguments to your callbacks such that you can know from which subscription a specific callback came. For an example see the ros_tutorial on listener_with_userdata https://code.ros.org/trac/ros/browser/stacks/ros_tutorials/trunk/roscpp_tutorials/listener_with_userdata/listener_with_userdata.cpp Tully On Mon, Feb 7, 2011 at 12:20 PM, kadir wrote: > > Hi folks, > > Let's say I have two nodes; one is publishing "n" different messages to "n" > different topics and the other one subscribes to all of the topics. But I > know that -more or less- the publisher node publishes new messages to the > topics consecutively(I mean first to topic a, then to topic b, then c, and > so on). All the messages being published have the same sequence_cnt. > > What I want from the listener node is that it polls these topics and read > the new incoming message in each topic one by one to ensure that received > messages have the same sequence_cnt to avoid checking each message if they > have same seq_cnt, or synching them. > > Do you think it is necessary to create "n" number of callback functions to > make the listener node grab updated data in an event-based fashion or is it > better to use request-response based communication between these nodes? > Does > ROS services corresponds to a polling operation? > > I'm just wondering how would you approach in this case -of course it > depends > on the application, but any suggestions-? > -- > View this message in context: > http://ros-users.122217.n3.nabble.com/One-node-subscribes-to-multiple-topics-tp2446644p2446644.html > Sent from the ROS-Users mailing list archive at Nabble.com. > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827