Hello, I'm using ROS-TCP-Connector to establish a connection between ROS and Unity. The ROSConnection class provides functions like Subscribe<T>(string topic, Action<T> callback) SubscribeByMessageName(string topic, string rosMessageName, Action<Message> callback) RegisterPublisher<T>(string rosTopicName, int? queue_size = null, bool? latch = null) But I see no way to unsubscribe a subscriber, i.e. once you subscribe using a callback, that callback gets called for all eternity, even if you are no longer interested in the topic. In a similar fashion, a publisher will stay registered because there is no mechanism to unregister. Although, in case of the publisher I'm not sure what the implications are. I haven't used services, yet, so I cannot say whether the same functionality is missing there, too. The reason I'm interested in this functionality is because I'm trying to abstract the singleton nature of the ROSConnection class away, by introducing separate ROSPublisher and ROSSubscriber classes: The idea is that developers in my team instantiate the newly introduced classes ROSPublisher and ROSSubscriber to publish and subscribe to topics. Once they are done, they simply call Dispose() on them. But, unless ROSConnection offers some mechanism to unregister/unsubscribe, there is no real way to dispose the instances.