Removed the dependencies on the iriutils library from the iri_action_server

CMakeLists.txt

@@ -23,9 +23,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 # edit the following line to add all the header files of the library
 # SET(headers ./include/iri_action_server.h)
 
-FIND_PACKAGE(iriutils REQUIRED)
-
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${headers})
+INCLUDE_DIRECTORIES(${headers})
 
 #common commands for building c++ executables and libraries
 # rosbuild_add_library(${PROJECT_NAME} SHARED ${sources})

include/iri_action_server/iri_action_server.h

@@ -29,8 +29,6 @@
 #include <actionlib/server/simple_action_server.h>
 #include <actionlib/action_definition.h>
 
-#include "exceptions.h"
-
 /**
  * \brief IRI ROS Action Server
  *
@@ -475,7 +473,7 @@ void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
     }
   
   }
-  catch(CException e)
+  catch(std::exception &e)
   {
     std::cout << e.what() << std::endl;
     as_.setAborted(Result(), "something went wrong!");