This is a major change.

1) SDK main function reverted to default
2) Now using SDK blocking main function
3) ROS update now executes in its own thread
4) Signal handling added for proper shutdown
5) Some bug fixes

CMakeLists.txt

@@ -7,7 +7,7 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  Release        : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE Release)
 
 rosbuild_init()