Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

+1 to @demmeln for his clarification about topic/message. Please review these terms.

I would spontaneously suggest a threaded solution. You do all your time consuming work in a separate thread and in your subscriber callback just pick the messages you want, discard all the others and provide the worker thread the correct messages.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.