passing to package format 2

See merge request !1

Added a ros::nodeHandle to the class constructor (with default value).
Removed the test functions (already commented).

Removed the code to handle the Ctrl+C combination because it was not used and it gave problems in some inherited classes.

Changes to the iri_base_driver package for correct compilation under catkin. 

Changed the point where the thread is started (from the constructor to the main ROS loop) to avoid executing the thread before ROS is correctly set up.

  - updating author manifest

 - Remove {tags/branches} from the top level of repository
 - Also setup.bash dissapear as rosinstall will generate its own. A new setup.sh
   was created inside scripts dir to handle automatically paths needed for them.

  - fixing MAJOR bug: adding ros::WallDuration(0.1).sleep();

  - removing ROS_NOBUILD from core pkgs

  - adding ROS_NOBUILD file to core packages

- fixing bug for base algorithm. Pure virtual function was called in reconfigure callback. Now initialization is done in spin instead of constructor

- adding virtual reconfigure callback in base algorithm

- define attributes of abstract class as protected for inheritance prevention