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So this is not a gazebo related question. You may ask this here: https://answers.ros.org/questions/

I recommend to take a look into the ROS tutorials:

http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29

http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

This could be a help for your problem.