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I also think your solution works best. I did not find a solution to pull messages from a subscriber.

Additionally, I'd like to access only the "latest" message rather than a message at a specific time point in the past. That ability does not seem to be built into tf, and so I would assume it isn't in other topic/msg based interfaces either.

That is possible if you set the queue_size argument of the Subscriber. Set it to one and only the latest message will be stored.