[ros-users] Callback once

[Prasad Dixit]

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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