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This is a pretty frequently asked question, with lots of answers. The first four results that I get on Google all have reasonable answers with examples and discussions of the pros and cons of the various approaches:

http://answers.ros.org/question/9339/subscriber-and-publisher-node-at-once-in-cpp/
http://answers.ros.org/question/45867/publisher-and-subscriber-in-single-node/
http://answers.ros.org/question/62327/how-to-create-a-combining-subscriber-and-publisher-node-in-python/
http://answers.ros.org/question/48727/publisher-and-subscriber-in-the-same-node/

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