- removing comments from algorithm base

- deleting segway base driver on closeDriver

include/iri_base_algorithm/iri_base_algorithm.h

@@ -282,6 +282,8 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
   diagnostic_(),
   dsrv_(private_node_handle_)
 {
+  ROS_DEBUG("IRI Base Algorithm Constructor");
+
   // create thread server instance
   this->thread_server_  = CThreadServer::instance();
   
@@ -299,13 +301,14 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
 template <class Algorithm>
 IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
 {
+  ROS_DEBUG("IRI Base Algorithm Destructor");
+
   this->thread_server_->kill_thread(this->main_thread_id_);
 }
 
 template <class Algorithm>
 void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
 {
-//   this->alg_.config_ = config;
   this->alg_.config_update(config, level);
 }
 
@@ -318,6 +321,8 @@ void IriBaseAlgorithm<Algorithm>::addDiagnostics(void)
 template <class Algorithm>
 void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 {
+  ROS_DEBUG("IRI Base Algorithm mainThread");
+
   // retrieve base algorithm class
   IriBaseAlgorithm *iriNode = (IriBaseAlgorithm *)param;
 
@@ -337,6 +342,8 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 template <class Algorithm>
 int IriBaseAlgorithm<Algorithm>::spin(void)
 {
+  ROS_DEBUG("IRI Base Algorithm spin");
+
   // initialize diagnostics
   this->diagnostic_.setHardwareID("none");
   this->addDiagnostics();
@@ -383,6 +390,8 @@ int AbstractAlgorithmNode::ctrl_c_hit_count_ = 0;
 template <class AlgImplTempl>
 int main(int argc, char **argv, std::string node_name)
 {
+  ROS_DEBUG("IRI Base Algorithm %s Launched", node_name.c_str());
+
   // ROS initialization
   ros::init(argc, argv, node_name);