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ROS Topic queries

Can I know how can we know if the data is present on a topic ? Will the data remain on the topic until next data is published on that topic ? I would like to realize an action and reaction pair. Action being publishing data on topic A and reaction being publishing data on topic B, this is supposed to happen within a certain interval.

ROS Topic queries

Can I know how can we know if the data is present on a topic ? Will the data remain on the topic until next data is published on that topic ?

I would like to realize an action and reaction pair. Action being publishing data on topic A and reaction being publishing data on topic B, this is supposed to happen within a certain interval.