Used the specific new data event for the rx can ID.

See merge request !2

Changed the deprecated auto_ptr for the unique_ptr.

See merge request !1

Checked that the number of data available if not 0 before reading to avoid an exception.

The communication device is closed and deleted (if necessary) when the config_bus function is called.

Changed the xsd library to generate code with the C++11 standard.

Removed the thread to process the dynamixel loops (it is already done in the data thread).
Added a new signal to notify slave answer to other slaves (simulate half duplex communication).

Re-indented some parts of the code.

Solved a bug when the first attempt to configure the bus failed (the communications object was not properly handled).