Thanks for feedback and help in advance,

I want to give input of topic names, initial data and data_type as dictionary to a function, and that function will subscribe to each topic and save data to dictionary. This is what I have done so far.

Example input

ros_topics = {"rosTopic1": {"data": None,
                            "type": "msg_type1"},
              "rosTopic2": {"data": None,
                            "type": "msg_type2"},
              "rosTopic3": {"data": None,
                            "type": "msg_type3"}}

I can subscribe to multiple topics and show their output message, however I couldn't save them into dictionary.

My function so far

def subscribe_topics(self):
    for key in self.ros_topics.keys():
        rospy.Subscriber(name=key,
                         data_class=self.ros_topics[key]["type"],
                         callback=self.common_callback)

def common_callback(self, msg):
    print("####")
    # Want to store msg.data to ros_topics[key]["data"], however I couldn't transfer **key**
    print(msg)
    print("####")

ROS Answers Question Link

• Python 3.8
• ROS Noetic
• Ubuntu 20.04

CodePudding user response：

Answered in here: ros-subscribe-to-multiple-topics-with-single-function