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Hi,friends,I see your code. In the first,I think that you should use rostopic listconfirm that your publisher is right or not.I describe that you just got the result of the "ROS_Info".Add the .msg files in the cmakelists and the msg file,use the rostopic to check publisher and subscriber. Second,your filter is in the void callback,you can't get the filtered data if you haven't published from void callback. That's all. Good luck!