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Thanks for the answer,

Yes, I've forgot to put a while(1) in my post, sorry! So to be more explicit the mainThread() is just as follows:

 {
      while(1)
      {
        this->myStuff();
        this->loop_rate_.sleep();
      }
  }

I've observed that if I call the rosbag with --clock the process gets blocked while if I remove the "--clock" option, the process iterates well, but in the later case I've (obvioulsy) problems with tf.

Thanks !

Andreu