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The onStart() method of a NodeMain will be called when the node comes online. That should be where your business logic starts. See the rosjava docs:

http://docs.rosjava.googlecode.com/hg/rosjava_core/html/getting_started.html#creating-nodes

Also, I would _strongly_ suggest extending RosActivity and using composition instead of inheritance for the other common functionality you're sharing between activities.

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