A node can have any number of publishers or subscribers.

In the future, this would be best asked on answers.ros.org so that people
may easily find it in the future.

~mc

On Wednesday, October 26, 2011, Karan, Cem F USA CIV (US) <
cem.f.karan.civ@mail.mil> wrote:
> Is it possible to make one node both a publisher and a subscriber?  That
is, would the following code fragment work?
>
>
> rospy.init_node('relay')
> pub = rospy.Publisher('talker', someMsg)
> oldMessages = set()
>
> def callback(data):
>        if not data in oldMessages:
>                pub.publish(data)
>        oldMessages.add(data)
>
> sub = rospy.Subscriber('listener', someMsg, callback)
>
> if __name__ == '__main__':
>        rospy.spin()
>
> Thanks,
> Cem Karan
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