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Yes it is possible, The data that is available on the topic is specified by messages. In you case I assume you define some message that contains some element like

float64 acc_x

for instance. Then you subscribe to this topic and just access the data element via the callback say

void dataCallback(const SomePkg::SomeMsgTypeConstPtr msg) { float accx = msg->acc_x; }

And you are set. You can go ahead and do anything with it afterwards.