move_base_node callbacks

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Hi,

I was going through the code for the move_base_node:

int main(int argc, char** argv){
  ros::init(argc, argv, "move_base_node");
  tf::TransformListener tf(ros::Duration(10));
  move_base::MoveBase move_base( tf );
  ros::spin();
  return(0);
}

So I'm wondering, what callbacks does the ros::spin() at the end execute? The constructor for the MoveBase object has a subscriber, a couple of services, an action server and some other stuff.

And in general, I guess my question is - what callbacks does the ros::spin wait for?

Source: https://github.com/ros-planning/navig...