sot_loader_basic: Put initializeRosNode as virtual.

sot_laoder: calls the real time control loop after initializeRosNode.

include/dynamic_graph_bridge/sot_loader.hh

@@ -89,6 +89,8 @@ public:
   SotLoader();
   ~SotLoader() {};
 
+  // \brief Create a thread for ROS and start the control loop.
+  void initializeRosNode(int argc, char *argv[]);
 
   // \brief Compute one iteration of control.
   // Basically calls fillSensors, the SoT and the readControl.

include/dynamic_graph_bridge/sot_loader_basic.hh

@@ -93,8 +93,8 @@ public:
   void Initialization();
 
   // \brief Create a thread for ROS.
-  void initializeRosNode(int argc, char *argv[]);
-
+  virtual void initializeRosNode(int argc, char *argv[]);
+  
 
   // \brief Callback function when starting dynamic graph.
   bool start_dg(std_srvs::Empty::Request& request, 

src/sot_loader.cpp

@@ -73,7 +73,11 @@ void SotLoader::startControlLoop()
   boost::thread thr(workThreadLoader, this);
 }
 
-
+void SotLoader::initializeRosNode(int argc, char *argv[])
+{
+  SotLoaderBasic::initializeRosNode(argc, argv);
+  startControlLoop();
+}
 
 void 
 SotLoader::fillSensors(map<string,dgs::SensorValues> & sensorsIn)