everything seems to work together as expected

(if not perfectly)

src/aruco_detector.cpp

@@ -25,12 +25,16 @@ class ImageConverter {
     ImageConverter() :
         it_(nh_)
     {
-        // Subscrive to input video feed
+        ros::Rate loop_rate(0.1);
+        loop_rate.sleep();
+
+        // Subscribe to input video feed
         image_sub_ = it_.subscribe("/usb_cam/image_raw", 1,
                 &ImageConverter::imageCb, this);
 
         // Create output windows
         cv::namedWindow(ARUCO_WINDOW);
+        ROS_INFO("ARUCO: UP");
     }
 
     ~ImageConverter() {
@@ -115,6 +119,7 @@ class ImageConverter {
 
 int main(int argc, char** argv) {
     ros::init(argc, argv, "aruco_detector");
+    ROS_INFO("ARUCO: STARTING");
     ImageConverter ic;
     ros::spin();
     return 0;