Minimal ROS node with keep-alive

minimal_keep_alive.cpp

#include  <ros/ros.h> 
int main(int argc, char** argv) {
    ros::init(argc, argv, "ObiWan");
    ros::NodeHandle nh;
    ros::Rate loop_rate(2); // We create a Rate object of 2Hz
    while (ros::ok()) { // Endless loop until Ctrl + C
        ROS_INFO("Hello, World!");
        ros::spinOnce();
        loop_rate.sleep(); // We sleep the needed time to maintain the Rate fixed above
    }
    return 0;
}