talker.diff

diff --git a/demo_nodes_cpp/src/topics/listener.cpp b/demo_nodes_cpp/src/topics/listener.cpp
index 454f896..aa81a66 100644
--- a/demo_nodes_cpp/src/topics/listener.cpp
+++ b/demo_nodes_cpp/src/topics/listener.cpp
@@ -14,6 +14,7 @@
 
 #include <iostream>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -29,8 +30,13 @@ int main(int argc, char * argv[])
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("listener");
 
-  auto sub = node->create_subscription<std_msgs::msg::String>(
-    "chatter", chatterCallback, rmw_qos_profile_default);
+  std::vector<rclcpp::subscription::SubscriptionBase::SharedPtr> subs;
+
+  for (size_t i = 0; i < 40; ++i) {
+    auto sub = node->create_subscription<std_msgs::msg::String>(
+      "chatter" + std::to_string(i), chatterCallback, rmw_qos_profile_default);
+    subs.push_back(sub);
+  }
 
   rclcpp::spin(node);
 
diff --git a/demo_nodes_cpp/src/topics/talker.cpp b/demo_nodes_cpp/src/topics/talker.cpp
index c1b73f0..fe19834 100644
--- a/demo_nodes_cpp/src/topics/talker.cpp
+++ b/demo_nodes_cpp/src/topics/talker.cpp
@@ -14,6 +14,7 @@
 
 #include <iostream>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -28,7 +29,14 @@ int main(int argc, char * argv[])
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
   custom_qos_profile.depth = 7;
 
-  auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", custom_qos_profile);
+  std::vector<rclcpp::publisher::Publisher<std_msgs::msg::String>::SharedPtr> publishers;
+
+  for (size_t i = 0; i < 40; ++i) {
+    auto chatter_pub = node->create_publisher<std_msgs::msg::String>(
+      "chatter" + std::to_string(i),
+      custom_qos_profile);
+    publishers.push_back(chatter_pub);
+  }
 
   rclcpp::WallRate loop_rate(2);
 
@@ -38,7 +46,9 @@ int main(int argc, char * argv[])
   while (rclcpp::ok()) {
     msg->data = "Hello World: " + std::to_string(i++);
     std::cout << "Publishing: '" << msg->data << "'" << std::endl;
-    chatter_pub->publish(msg);
+    for (auto publisher : publishers) {
+      publisher->publish(msg);
+    }
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }