text: #!/usr/bin/env python
  
  """ 
  Developers: DSOR Team -> @isr.ist.pt Instituto Superior Tecnico
  Description: Please check the documentation of this package for more info.
  """
  import rospy
  from medusa_bringup_algorithms.MedusaSetup import MedusaSetup
  from std_msgs.msg import Int8, Bool
  
  class MedusaBringupVxNode():
  	def __init__(self):
  		"""
  		Constructor for ros node
  		"""
  
  		"""
  		###########################################################################################
  		@.@ Init node
  		###########################################################################################
  		"""
  		rospy.init_node('medusa_bringup_vx_node')
  
  		"""
  		###########################################################################################
  		@.@ Handy Variables
  		###########################################################################################
  		# Declare here some variables you might think usefull -> example: self.fiic = true
  
  		"""
  		self.loadParams()
  		MedusaSetup(self.name, self.config_package_path, self.folder, self.namespace, self.vehicle_configuration)
  
  
  	"""
  	###########################################################################################
  	@.@ Member Helper function to set up parameters; 
  	###########################################################################################
  	"""
  	def loadParams(self):
  		# self.node_frequency = rospy.get_param('~node_frequency', 10)
  		# self.real = rospy.get_param('~real', False)
  		self.name = rospy.get_param('~name', "mred")
  		self.config_package_path = rospy.get_param('~config_package_path', "~/catkin_ws/medusa_simulation/medusa_base/medusa_bringup")
  		self.folder = rospy.get_param('~folder', "simulation")
  		self.namespace = rospy.get_param('~namespace', "false")
  		self.vehicle_configuration = rospy.get_param('~vehicle_configuration', None)
  
  		#self.bags = rospy.get_param('~bags', False)
  		#self.pf_controller = rospy.get_param('~path_following', "Lapierre")
  		#self.waypoint = rospy.get_param('~waypoint', "standard")
  
  
  def main():
  
  	medusaBringupVx = MedusaBringupVxNode()
  	
  	# +.+ Added to work with timer -> going into spin; let the callbacks do all the work
  	rospy.spin()
  
  if __name__ == '__main__':
  	main()
  