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The information is embedded in the header information and can be found through the C++ and python implementations. The Java implementation may or may not provide a way to get to the metadata.

Overall this breaks the anonymous publish subscribe abstraction which is core to ROS's design. A much cleaner solution is for you to remap your different robots onto different topics so that you know that everything coming in on a specific topic has the same semantic information, and you can provide specific or parameterized callbacks for each source.