Fixed a bug and added a launch-file

modules/catkin_ws/src/car/include/mainNode/mainNode.h

+#ifndef MAINNODE_H
+#define MAINNODE_H
+
 #include <nodelet/nodelet.h>
 #include <ros/ros.h>
+#include "bost/thread.hpp"
 
 namespace car
 {
@@ -13,5 +17,8 @@ namespace car
 		private:
 			ros::NodeHandle nh_;
 			std::string name_;
+			boost::thread loggerModule;
+			ros::Publisher logEnabled;
 	};
 }
+#endif

modules/catkin_ws/src/car/launch/fullstart.launch

+<launch>
+  <node pkg="nodelet" type="nodelet" name="Master" args="manager" output="screen">
+    <param name="num_worker_threads" value="16" />
+  </node>
+
+  <node pkg="nodelet" type="nodelet" name="nodelet_main_node" args="load car/main_node Master"/>
+</launch>
+
+<!--
+  <node pkg="nodelet" type="nodelet" name="" args="load car/ Master"/>
+-->

modules/catkin_ws/src/car/plugins/nodelet_plugins.xml

 <library path="lib/libmain_node">
   <class name="car/main_node"
-	 type="car::mainNode"
+	 type="car::MainNode"
 	 base_class_type="nodelet::Nodelet">
   <description>
   This node holds the threads:

modules/catkin_ws/src/car/src/mainNode/mainNode.cpp

@@ -3,6 +3,15 @@
 
 #include "mainNode/mainNode.h"
 
+#include "car/camDataMsg.h"
+#include "car/ccDataMsg.h"
+#include "car/environmentDataMsg.h"
+#include "car/logEnabledMsg.h"
+#include "car/logStringMsg.h"
+#include "car/rcEnabledMsg.h"
+#include "car/stmDataMsg.h"
+#include "car/ussDataMsg.h"
+
 PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
 
 namespace car
@@ -13,7 +22,10 @@ namespace car
 	void MainNode::onInit()
 	{
 		NODELET_INFO("MainNode::onInit -- START");
-    // CODE GOES HERE
+		logEnabled = nh_.advertise<logEnabledMsg>("logEnabled", 5);
+
+
+    		// CODE GOES HERE
 		NODELET_INFO("MainNode::onInit -- END");
 	}
 }