def start
      puts "=== starting Ruby ROS master @#{@master_uri} ==="
      @parameters.push(Parameter.new('/rosversion', '1.8.6'))
      @parameters.push(Parameter.new('/rosdistro', 'fuerte'))
      @thread = Thread.new do
        while true
          procs = []
          # lock here
          proc_obj = @queue.pop
          procs.push(proc_obj)
          while not @queue.empty?
            proc_obj = @queue.pop
            procs.push(proc_obj)
          end
          # wait until server returns xmlrpc response...
          sleep 0.2
          begin
            procs.each {|x| x.call}
          rescue => e
            p 'error!'
            p e.faultString
          end
        end
      end
      @server.serve
      self
    end
def start
      puts "=== starting Ruby ROS master @#{@master_uri} ==="
      @parameters.push(Parameter.new('/rosversion', '1.8.6'))
      @parameters.push(Parameter.new('/rosdistro', 'fuerte'))
      @thread = Thread.new do
        while true
          procs = []
          # lock here
          proc_obj = @queue.pop
          procs.push(proc_obj)
          while not @queue.empty?
            proc_obj = @queue.pop
            procs.push(proc_obj)
          end
          # wait until server returns xmlrpc response...
          sleep 0.2
          begin
            procs.each {|x| x.call}
          rescue => e
            p 'error!'
            p e.faultString
          end
        end
      end
      @server.serve
      self
    end
Initialize XMLRPC Server.
 Master#start must be called to be started.
 @param [String] master_uri uri of master
 start server and set default parameters