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Hi Guido,

did you already solve your problem? In which part of your code are you using these subscribers or their callbacks? Maybe if you provide more information, I could help you. Here are some words about how I use subscribers and callbacks in my custom controller.

In the init() part of the controller I subscribe to a couple of topics, which contain information about tracked positions. The callback functions of these subscribers update the target positions and also the corresponding flags. All of these things are class members of the controller. In the update() loop the flags indicate whether or not the controller has to use the updated target positions or not. All that works fine for me.

But I am also wondering, if this usage is real-time safe. Can anyone provide some information about that?

I opened up a new question to ask about real-time facts in a more general scope -> real-time safe communication with a controller. Maybe answers there are helpful for your problem.

:-) Marcus