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If you're using roscpp, you can use a callback with the MessageEvent type and ignore messages received too far in the past:

void callback(const ros::MessageEvent<geometry_msgs::Twist>& event)
{
  const std::string& publisher_name = event.getPublisherName();
  ros::Time receipt_time = event.getReceiptTime();

  ROS_INFO("Got a msg at time %f from publisher: %s",
           receipt_time.toSec(), publisher_name.c_str());

  // Compare receipt_time with ros::Time::now() to ignore too old messages

  const geometry_msgs::Twist::ConstPtr msg = event.getConstMessage();
}