def __init__(self, options, parent=None):
        super(ROSNode, self).__init__(parent)

        self.compiledMsgs = [m for m in dir(msgCF) if m[0]!="_" and m[-2:]=="CF"] # Messages that are previously auto-compiled and we can send
        if len(self.compiledMsgs)==0:
            rospy.logerror('Not Messages could be loaded. Please connect to the flie and press Compile Messages, then run rosmake')
        self.options = options
        # Publishers
        self.publishers   = {} #Generated publishers will go here
        self.pub_tf       = tf.TransformBroadcaster()

        # Subscribers
        self.sub_tf    = tf.TransformListener()
        self.sub_joy   = rospy.Subscriber("/cfjoy", cmdMSG, self.receiveJoystick)
        self.sub_baro = None # Defined later

        self.master = rosgraph.Master('/rostopic') 

def _add_waypoint_pose(self):
        current_pose = self._get_current_pose()

        if (None != current_pose):
            self._append_waypoint_pose(current_pose.pose.pose)
        else:
            rospy.logerror("Invalid waypoint pose")