diff --git a/.project b/.project
index 302aaa6..4331339 100644
--- a/.project
+++ b/.project
@@ -5,8 +5,24 @@
 	<projects>
 	</projects>
 	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
 	</buildSpec>
 	<natures>
 		<nature>org.python.pydev.pythonNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
 </projectDescription>
diff --git a/tools/urosgen/src/urosgen.py b/tools/urosgen/src/urosgen.py
index 3f4a8c8..a951e4f 100755
--- a/tools/urosgen/src/urosgen.py
+++ b/tools/urosgen/src/urosgen.py
@@ -1640,6 +1640,14 @@ def gen_pubtopic_handler(self, name):
     
     def gen_subtopic_sig(self, name):
         return 'uros_err_t sub_tpc%s(UrosTcpRosStatus *tcpstp)' % mangled_name(name)
+
+    def gen_subtopic_cb_sig(self, name):
+        msgtype = self.msgTypes[self.subTopics[name]]
+        return 'void sub_cb%s(struct %s *msg)' % (mangled_name(name), msgtype.cname)
+
+    def gen_subtopic_cb(self, name):
+        msgtype = self.msgTypes[self.subTopics[name]]
+        return 'sub_cb%s(&msg)' % mangled_name(name)
     
     def gen_subtopic_handler(self, name):
         msgtype = self.msgTypes[self.subTopics[name]]
@@ -1667,7 +1675,8 @@ def gen_subtopic_handler(self, name):
         text += tab*2 + '/* Receive the next message.*/\n'
         text += tab*2 + 'UROS_MSG_RECV_LENGTH();\n'
         text += tab*2 + 'UROS_MSG_RECV_BODY(%s, %s);\n\n' % (msgref, msgtype.cname)
-        text += tab*2 + '/* TODO: Process the received message.*/\n\n'
+        text += tab*2 + '/* Call callback function.*/\n'
+        text += tab*2 + self.gen_subtopic_cb(name) + ';\n\n'
         text += tab*2 + '/* Dispose the contents of the message.*/\n'
         text += tab*2 + 'clean_%s(%s);\n' % (msgtype.cname, msgref)
         text += tab + '}\n'
@@ -1965,6 +1974,7 @@ def gen_handlers_header(self):
         for name in sorted(self.subTopics):
             text += banner_small('SUBSCRIBED TOPIC: ' + name) + '\n\n'
             text += self.gen_subtopic_sig(name) + ';\n\n'
+            text += self.gen_subtopic_cb_sig(name) + ';\n\n'
         if len(self.subTopics) == 0:
             text += '/* There are no subscribed topics.*/\n\n'