fixed issue #12 use-case 2
Revert "fixed issue #12 use-case 2"

This reverts commit 0a12dce02fd6b465b7e5d7ddf630f3355f38eae6.
Fixes for issue #12. Still might give an error if there is no sleep after start-ros-node
reverted make-thread in update-publisher and refactored setup-tcpros-subscription
fixed some issues from the refactoring
work in progress
Issue #12 seems to be fixed
moved sending of the tcp-header behind the lookup for the topic
Merge pull request #16 from jannikb/master

Fixed Issue ros/roslisp#12