Revision history [back]

You'll need to be a little more specific... there are many tutorials for subscribers and publishers. You are asking for both together.

It is not good practice to publish and subscribe to the same topic inside a node... You have the data available, so just pass the data to whatever processing you would to with a subscriber; however, if you want the data to be read from another node to do processing, you will need to make a second executable. If you need specific instructions, please update your question to be more specific for the setup you desire.