anchor.diff:        (sb-thread:make-thread 
          #'(lambda ()
   
  -	   (when (eq *node-status* :running) 
  -	     (error "Can't start node as status already equals running.  Call shutdown-ros-node first."))
  -
  -
  -	   ;; Start publication and xml-rpc servers.  
  +           (when (eq *node-status* :running) 
  +             (error "Can't start node as status already equals running.  Call shutdown-ros-node first."))
  +
  +
  +           ;; Start publication and xml-rpc servers.  
              (mvbind (srv sock) (start-xml-rpc-server :port 0)
                (setq *xml-server* srv
                      xml-rpc-port (nth-value 1 (sb-bsd-sockets:socket-name sock))))
  
positive.code:       (close *ros-log-stream*)
        (when *running-from-command-line* (sb-ext:quit)))))
  
  
  
negative.code:     (unless master-supplied      
        (setq master-uri (or *default-master-uri* (sb-ext:posix-getenv "ROS_MASTER_URI")))
        (unless (and (stringp master-uri) (> (length master-uri) 0))
          (error "Master uri needs to be supplied either as an argument to start-ros-node, or through the environment variable ROS_MASTER_URI, or by setting the lisp variable *default-master-uri*")))
  
      (when (stringp master-uri)
        (mvbind (address port) (parse-uri master-uri)
          (setq master-uri (make-uri address port))))
  
      (symbol-macrolet ((address (uri-address master-uri)))
        (unless (parse-string-ip-address address)
          (setf address (ip-address-string (lookup-hostname-ip-address address)))))
  
      (setq *master-uri* master-uri)
      
  