text: #include <string>
  #include <sstream>
  #include <ros/ros.h>
  #include <move_base_msgs/MoveBaseAction.h>
  #include <actionlib/client/simple_action_client.h>
  #include <tf/transform_broadcaster.h>
  #include <tf/transform_listener.h>
  #include <nav_msgs/Odometry.h>
  
  #include "color_cout.hpp"
  #include "PatrolAgent.hpp"
  #include "CycleAgent.hpp"
  
  
  using namespace std;
  
  //---[MAIN]---------------------------//
  
  int main (int argc, char** argv)
  {
      cycleagent::CycleAgent CA;
      CA.init (argc, argv);
      c_print("@ Inizializzazione finita!",green);
      sleep(3);
      CA.init_agent();
      sleep(3);
      CA.run();
      return 0;
  }