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The Subscriber keeps to listen the topic which have been published. So, in this example, the subscriber "sub1" keeps subscribe the topic "sonarBearing", 100 is the queue size and the bearingCB is the name of callback function.

Have a look of this tutorial, I think it could help you to realize.

The Subscriber keeps to listen the topic which have been published. So, in this example, the subscriber "sub1" sub1 keeps subscribe the topic "sonarBearing", sonarBearing, 100 is the queue size and the bearingCB bearingCB is the name of callback function.

Have a look of this tutorial, I think it could help you to realize.