How to restart subscriber from callback

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Hi all,

I know that this topic is a common issue here but I was dealing with this thing with a different set up, and I want to know if there is a more elegant solution different from the one I will post here.

My problem is the following: I have several Nodes (the problem is in several nodes because I want to do the same in all of them but they are implemented in C++ and pyhton) that have a init function in which I perform the parameters set up as well as the subscription and publisher. Within this nodes, there is a callback that is used to reset all the node parameters and subs/pubs. The first problem is that, when I want to use the callback publishing in its topic, since the topic is latched the callback is called multiple times and the second one is from the callback itself since it is calling the init function performing a re-initialization of the same subcriber that called the reset, ending in an infinite loop and thus throwing a limit recursion exception.

The problem should look like:

Node:

class ClassReset(object):

    def __init__(self):
        self.init()

    def init(self):
     # Set params
     # Set publisher
     self.reset_sub = rospy.Subscriber("reset", Bool, self.reset_cb, queue_size=1)
     ...

    def reset_path_cb(self, reset_cmd):
     rospy.loginfo("Reseting...")
     self.init()

Command used to publish in the topic:

rostopic pub -1 /reset std_msgs/Bool "data: true"

The code in C++ is practically the same.

I tried the following to solve the multiple calls:

1. Publish with a new node only once. This does not work in C++, since the callback is never called.
2. Perform a wait equivalent to the latched time: rospy.Rate(0.3).sleep().
3. As this post suggest I tried to unsubcribe before calling the init function but the result if the same.

Hope someone can help me.

Regards!