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