1-fixing bug in iri_base_driver_node. I accidentally deleted the try_enter in the destructor :(

2-adding CMutexException control in segway_rmp200

include/iri_base_driver/iri_base_driver_node.h

@@ -335,7 +335,9 @@ IriBaseNodeDriver<Driver>::~IriBaseNodeDriver()
 {
   try
   {
-    //unlock access to driver
+    //try access to driver to assert it is
+    //unlock before its destruction
+    this->driver_.try_enter();
     this->driver_.unlock();
   }
   catch(CException e)