Hi! I want to write some ros scripts in python language. My question is about structure of program. Where is place to initiate variables, where is place for topics or other rospy objects and how to write an infinite loop with access to all variables and objets. For example like in Arduino program, where are setup() and loop() functions. Whats the difference between if __name__=='__manin__' and while not rospy.is_shutdown() Can u give me something like a template? Im making a lot of mess in my programs and cant understand exact way of program working without this knowledge