adding new files for iri_local_planner to test iri_core algorithm base

include/iri_base_algorithm/iri_base_algorithm.h

@@ -49,8 +49,6 @@ class IriBaseAlgorithm
 template <class Algorithm>
 IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm(): private_node_handle_("~"), loop_rate(DEFAULT_RATE)
 {
-//   this->driver_.setPostOpenHook(boost::bind(&CIriNode::postOpenHook, this));
-
   // create the status thread
   this->thread_server=CThreadServer::instance();
   this->main_thread_id="main_thread";
@@ -69,14 +67,8 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 
   while(ros::ok())
   {
-//     std::cout << __LINE__ << ": driver state=" << iriNode->driver_.getStateName() << std::endl;
-//     if(iriNode->driver_.isRunning())
-//     {
       iriNode->mainNodeThread();
-
-//       ros::spinOnce();
       iriNode->loop_rate.sleep();
-//     }
   }
 
   pthread_exit(NULL);
@@ -92,10 +84,10 @@ template <class AlgImplTempl>
 int main(int argc, char **argv, std::string name)
 {
   ros::init(argc, argv, name);
+
   AlgImplTempl algImpl;
-//   algImpl.AlgImplTempl::mainThread();
-ros::spin();
-  return 0;
+
+  return ros::spin();
 }
 
 }