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Perhaps you're looking for the PublisherListener API. See:

http://docs.rosjava.googlecode.com/hg/rosjava_core/html/javadoc/org/ros/node/topic/Publisher.html#addListener(org.ros.node.topic.PublisherListener) http://docs.rosjava.googlecode.com/hg/rosjava_core/html/javadoc/org/ros/internal/node/RegistrantListener.html#onMasterRegistrationFailure(T)

Perhaps you're looking for the PublisherListener API. See:

http://docs.rosjava.googlecode.com/hg/rosjava_core/html/javadoc/org/ros/node/topic/Publisher.html#addListener(org.ros.node.topic.PublisherListener) http://docs.rosjava.googlecode.com/hg/rosjava_core/html/javadoc/org/ros/internal/node/RegistrantListener.html#onMasterRegistrationFailure(T)

There is an example provided in the documentation here:

http://docs.rosjava.googlecode.com/hg/rosjava_core/html/advanced.html

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