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Actually, after a couple frustrating hours, I do not believe that this is implemented in the roscpp client libraries. Check out this issue: https://github.com/ros/ros_comm/issues/148. I do not believe they are planning on implementing it either...

~~Actually,~~ Actually (in regards to your first point), after a couple frustrating hours, I do not believe that this is implemented in the roscpp client libraries. Check out this issue: https://github.com/ros/ros_comm/issues/148. I do not believe they are planning on implementing it either...

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