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Boost::threads is commonly used, but the others should work as well. Info on callbacks in roscpp is at http://www.ros.org/wiki/roscpp/Overview/Callbacks%20and%20Spinning. For your case, spinning off a thread that calls the moos loop, then calling ros::spin in the main thread, sounds like it will work.
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Boost::threads is commonly used, but the others should work as well. Info on callbacks in roscpp is at http://www.ros.org/wiki/roscpp/Overview/Callbacks%20and%20Spinning. http://www.ros.org/wiki/roscpp/Overview/Callbacks%20and%20Spinning. For your case, spinning off a thread that calls the moos loop, then calling ros::spin in the main thread, sounds like it will work.
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