text: /*  CANYONERO  */
  
  
  // ROS Controller
  
  // Publish GPIO commands from keyboard control.
  
  #include "realRosClass.h"
  
  
  using namespace std;
  
  
  int main(int argc, char** argv)
  {
      // Start ROS
      realRosClass * realRos = new realRosClass();
      
      // Start ncurses
      realRos->start_ncurses();
  
      // Start nodes
      realRos->start_control_node();
  
      while(ros::ok())
      {   
          string _state = realRos->get_state();
          realRos->info_control(_state);
          realRos->keyboard_control();
          if(!realRos->running)
          {
              break;
          }
          realRos->rosSpinOnce();
      }
  
      // Remove window
      realRos->end_ncurses();
  
      // Shutdown
      delete realRos;
  
      return 0;
  }