Hi Ken, this is actually what I was looking for, unfortunately your example does not compile: ros::Subscriber chatter_sub1 = n.subscribe("chatter", 100, boost::bind(chatterCallback1, _1, 10)); I used this for my example and the following error is returned: error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [8], int, boost::_bi::bind_t<void, void (*)(const std_msgs::StringConstPtr&, int), boost::_bi::list2<boost::arg<1>, boost::_bi::value<int> > >)’ note: candidates are: ros::Subscriber ros::NodeHandle::subscribe(ros::SubscribeOptions&) Do you have any hints for me (my boost knowledge is rather low)