[tibi_dabo_hri_node]

  - fixing port name to Loquendo TTS

[iri_action_server]
  - fixing bug when client asks for preemption. Now preempting instead of aborting

include/iri_action_server/iri_action_server.h

@@ -307,7 +307,10 @@ IriActionServer<ActionSpec>::IriActionServer(ros::NodeHandle & nh, const std::st
 template <class ActionSpec>
 IriActionServer<ActionSpec>::~IriActionServer(void)
 {
-
+//   std::cout << "IriActionServer::Destructor:: active=" << as_.isActive() << std::endl;
+//   if( as_.isActive() )
+//     as_.setAborted();
+//   as_.shutdown();
   ROS_DEBUG("IriActionServer::Destructor");
 }
 
@@ -371,12 +374,13 @@ void IriActionServer<ActionSpec>::executeCallback(const GoalConstPtr& goal)
       // and if ROS connection is OK
       if( as_.isPreemptRequested() || !ros::ok() )
       {
+	std::cout << "IriActionServer::executeCallback::PREEMPTED!" << std::endl;
         ROS_DEBUG("IriActionServer::executeCallback::PREEMPTED!");
         //is_active = false;
 
         // stop action
         stop_action_callback_();
-        as_.setAborted();
+        as_.setPreempted();
       }
       // check if action has finished
       else if( is_finished_callback_() )