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Are you asking how to subscribe to two topics with one node?

You can simply create multiple Subscribers, so in the tutorial http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

ros::Subscriber sub1 = n.subscribe("chatter1", 1000, chatterCallback1);
ros::Subscriber sub2 = n.subscribe("chatter2", 1000, chatterCallback2);

and similarly in python.