Hi,

you can call the `shutdown' method on the Subscriber instance in your
message callback.

Lorenz

> Hello all,
> I am subscribing a node for amcl_pose.
> 
> void* fn_get_robot_init_pos(void *obj){
> 
>    ros::init(argc, argv, "robot_AMCL_Position");
>    ros::NodeHandle l_node;
> 
>     ros::Subscriber l_amcl_pose  = l_node.subscribe("amcl_pose", 1, 
> fn_amclinitpose);
>    ros::spin();
> 
>    return(NULL);
> }
> 
> void fn_amclinitpose(const 
> geometry_msgs::PoseWithCovarianceStampedConstPtr& msg)
> {
>   ROS_INFO("Received X:[%f] :: Y:[%f] :: Z:[%f] ", 
> msg->pose.pose.position.x, msg->pose.pose.position.y, 
> msg->pose.pose.position.z);
> 
> }
> 
> I want handle to be called only for one time. Since i want only initial 
> position of the Robot in my code when the Robot starts.
> In above code spin(); callbacks again and again. (I tried spinonce also).
> 
> Any solution to rid of this issue? Can we call function only one time?
> 
> - Prasad
> 
> 

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-- 
Lorenz Mösenlechner            | moesenle@in.tum.de
Technische Universität München | Boltzmannstr. 3
85748 Garching bei München     | Germany
http://ias.cs.tum.edu/         | Tel: +49 (89) 289-17750