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[rospy] How do you unsubscribe to a topic, from within the callback ?

asked 2012-10-23 06:45:17 -0500

Phuicy gravatar image

In a previous answer a similar issue was addressed but solved in another manner, however the solution suggsted:

def cb_once(msg, subscriber):
    #do processing here
    subscriber.unregister()

sub_once = None
sub_once = rospy.Subscriber('my_topic,', MyType, cb_once, sub_once)

However since you the right hand side of the last line has to finish before equating to the left hand side, thus sub_once point to wrong place, hence in the cb_once, subscriber.unregister() can't work. Is there another way?

Many Thanks

Guy

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Comments

When you say "can't work" do you mean "I don't think it works" or "I tried it and it doesn't work"? The callback isn't called by Subscriber, although (I think that) there's a small chance that it will fire before Subscriber returns (very small, probably).

Bill Smart gravatar imageBill Smart ( 2013-07-02 09:55:17 -0500 )edit

You can always wrap the callback code in a try block if you're worried that it will fail.

Bill Smart gravatar imageBill Smart ( 2013-07-02 09:56:03 -0500 )edit

2 Answers

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9

answered 2013-07-02 04:55:26 -0500

Airuno2L gravatar image

I know it's been over a year but I just had this same problem and found this post. Just make sub_once a global variable.

def cb_once(msg):
   #do processing here
   sub_once.unregister()

global sub_once
sub_once = rospy.Subscriber('my_topic,', MyType, cb_once)
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Thanks, I will try but I am skeptical. As the '''rospy.subscriber'' is processed first and the hence the callback ''cb_once" then ''sub_once = ", thus the '''sub_once" in the callback isnt point to the subscriber yet.

Phuicy gravatar imagePhuicy ( 2013-07-02 07:26:23 -0500 )edit

Btw, thank you for replying. It what makes a good community.

Phuicy gravatar imagePhuicy ( 2013-07-02 07:28:07 -0500 )edit

Wouldn't that be fixed by placing a global sub_once in the callback? (And moving the var to the top)

felix k gravatar imagefelix k ( 2013-07-03 07:41:38 -0500 )edit

I can confirm that this will work. cb_once will only be called when a message has been received at which point if global sub_once is included in both the callback and in the place making the subscriber the line sub_once.unregister() will reference the subscriber created even below it

inkspell4 gravatar imageinkspell4 ( 2017-02-26 20:46:29 -0500 )edit
10

answered 2014-06-10 19:36:05 -0500

Benjamin Blumer gravatar image

updated 2014-06-10 19:36:29 -0500

An easy way to get a single message is this:

 msg = rospy.wait_for_message("my_topic", MyType)

This returns the message, and shuts down after receiving one message. You can specify a timeout as the third argument. It also doesn't require using a global.

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+1. Depending on the purpose though, I think this is cleaner and easier.

130s gravatar image130s ( 2014-10-20 11:25:26 -0500 )edit

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Asked: 2012-10-23 06:45:17 -0500

Seen: 12,455 times

Last updated: Jun 10 '14