Ros subscriber is processing an old message - c++

Question

I am currently trying to pass some information between two ros node.
The publisher, being a ros node written in python publishes a string on to a topic, and the subscriber, being a ros node written in cpp, has a callback function which reacts on messages being sent to that topic.
My problem is with the callback function in the cpp part, which doesn't process the recently published message, but only the one sent just before the new one.The cpp subscriber is basically one message behind.
Echoing the topic shows that the message being published on to the topic is the correct one, so something is must be wrong on the cpp part.
The callback is currently only printing the incomming message, and nothing else.
The subscriber on the CPP part is initialized as such:
status(nodehandle.subscribe("/status",10000,&wrapper::callback, this))
void wrapper::callback(const std_msgs::String& command)
{
ROS_ERROR_STREAM("RECEIVED a callback");
std::cout <<"Received unconverted message: "<< command.data << std::endl;
}
I tried changing the queue_size with no effect.
I am sure that the python code is publishing the right message, by debugging it via echoing the topic.
And sending multiple messages, proves that the messages received on the cpp part is delayed by one message.
Why am I not able to read the newest message published on to the topic?
MWE:
ros::NodeHandle nodehandle;
ros::Publisher control_cpp_to_python;
ros::Publisher control_front_to_python;
ros::Subscriber status_manual;
ros::Subscriber status_auto;
ros::Rate loop_rate;
void callback_manual(const std_msgs::String& command)
{
ROS_ERROR_STREAM("RECEIVED a callback");
std::cout <<"Received unconverted message - manuak: "<< command.data << std::endl;
if(checked == true)
{
std::cout << "Message received from correct callback - Manual" << std::endl;
checked = false;
thread_running=false;
}
else
{
checked = true;
}
}
void callback_auto(const std_msgs::String& command)
{
ROS_ERROR_STREAM("RECEIVED a callback");
std::cout <<"Received unconverted message - auto: "<< command.data << std::endl;
if(checked == true)
{
std::cout << "Message received from correct callback - Manual" << std::endl;
checked = false;
thread_running=false;
}
else
{
checked = true;
}
}
while(thread_running)
{
loop_rate.sleep();
if(!thread_running) break;
if(mode == "manual")
{
std_msgs::Int8 msg;
std::bitset<4> msg_bit;
msg_bit.set(3,1);
msg_bit.set(2,1);
msg_bit.set(1,1);
msg_bit.set(0,0);
std::cout << "Sending message in manual mode!" << std::endl;
std::cout << "Message being: "<< msg_bit << std::endl;
msg.data = int(msg_bit.to_ulong());
control_front_to_python.publish(msg);
}
if(mode == "auto")
{
std::cout << "Publishing message in auto" << std::endl;
std_msgs::Int8 msg;
msg.data = 8;
control_cpp_to_python.publish(msg);
}
ros::spinOnce();
}
I guess this is as scraped as it can be. I guess the issue must be due to me setting the thread_running to false inside the callback. I've currently fixed it by the checked bool as a temporary fix.