Thanks for the quick response. One more thing. After I made the changes you suggested, I was able to successfully "make" the node. I got the following error when I tried to launch the node: [FATAL] [1285884626.766008172]: You must call ros::init() before creating the first NodeHandle [FATAL] [1285884626.767366060]: BREAKPOINT HIT file = /opt/ros/cturtle/ros/core/roscpp/src/libros/node_handle.cpp line=140 [subscriber-3] process has died [pid 18638, exit code -5]. log files: /home/gavin/.ros/log/74977cc6-ccd5-11df-9b91-0007e97f99ca/subscriber-3*.log I then went and added the middle line( ros::init . . . ) using namespace ros; ros::init(argc, argv, "subscriber"); ros::NodeHandle n; . . . . . and I got the following errors when I tried to make the node: /src/subscriber.cpp:11: error: expected constructor, destructor, or type conversion before ‘(’ token make[3]: *** [CMakeFiles/subscriber.dir/src/subscriber.o] Error 1 Could you please explain what's happening? Thanks a lot! -Gavin