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You can write a subscriber by following the python publish and subscribe tutorial or the C++ publish and subscribe tutorial.

You can write a subscriber by following the python [python publish and subscribe tutorial tutorial](http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(python%29) or the C++ [C++ publish and subscribe tutorial.tutorial](http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B%29).