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In your main(), you can replace the ros::spin() with a while loop that does whatever you want it to. In this example, check_for_done() is a function that you provide. If you use this approach, be sure you sleep() on every iteration of the while loop.

ros::Duration d(0.100);
while(ros::ok) {
    if (check_for_done()) {
        ros::shutdown();
    }
    d.sleep();
}

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