use ros::spinOnce to publish on each simulation loops and debug (ref … #93
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ros::spinOnceを使って各シミュレーションループに同期して（シミュレーションスレッド上で）メッセージをpublishするようにしました。
publish間隔を決定する変数の初期値が常に0になってしまっており、これだとシミュレーションを途中から開始したときに異常な動作をすると思われるのでデバッグもしてあります。
ref #91