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This Q/A also has some relevant information. If I read your subscriber definition correctly. you have 3 separate subscribers, all with a queue size of 1. This means that when spinOnce() is called at 60 Hz, you should get your callbacks called for all your subscribers. As you publish faster than 60 Hz on A and B and only have a queue size of 1, it is expected that some messages on both topic are dropped (in fact, on average half of them for B). I'm not sure why B_callback sometimes is never called, but I'd recommend increasing the queue size on your subscribers to see if that improves things.