Adding iri_common_msgs package into the iri_common_drivers stack

Updating iri_base_driver 

CMakeLists.txt

@@ -19,17 +19,17 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 # edit the following line to add all the source code files of the library
-#SET(sources ./src/iri_base_driver.cpp)
+SET(sources ./src/iri_base_driver.cpp)
 # edit the following line to add all the header files of the library
-#SET(headers ./include/iri_base_driver.h ./include/iri_base_driver_node.h)
+SET(headers ./include/iri_base_driver.h ./include/iri_base_driver_node.h)
 
-#FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(iriutils REQUIRED)
 
-#INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${headers})
-#INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${headers})
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
 
 #common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} SHARED ${sources})
+rosbuild_add_library(${PROJECT_NAME} SHARED ${sources})
 #target_link_libraries(${PROJECT_NAME} another_library)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)

include/iri_base_driver/iri_base_driver.h

@@ -30,22 +30,24 @@
 /**
  * \brief IRI ROS Base Driver Class
  *
- * This class inherits from the ROS class driver_base::Driver, which provides the
- * guidelines for any driver kind. The IriBaseDriver class offers an easy framework
- * to integrate functional drivers implemented in C++ with the ROS driver structure.
- * A shared library is generated together with CIriNode class to force implementation
- * of virtual methods to final user. Common use functions to open, close, start 
- * and stop a driver need to be filled up when instantiating this class. ROS 
- * provides state transition methods to change from one state to another.
+ * This class inherits from the ROS class driver_base::Driver, which provides 
+ * the guidelines for any driver kind. The IriBaseDriver class offers an easy 
+ * framework to integrate functional drivers implemented in C++ with the ROS 
+ * driver structure. A shared library is generated together with IriBaseNodeDriver 
+ * class to force implementation of virtual methods to final user. Common use 
+ * functions to open, close, start  and stop a driver need to be filled up when 
+ * instantiating this class. ROS  provides state transition methods to change 
+ * from one state to another.
  *
  * This class is used as an intermediate level between ROS basic classes and the
- * user final driver implementation. Methods to manage drivers are implemented to
- * provide common features to all driver-type objects. New methods are provided
- * to the user for the specific driver needs.
+ * user final driver implementation. Methods to manage drivers are implemented 
+ * to provide common features to all driver-type objects. New methods are 
+ * provided to the user for the specific driver needs.
  *
- * Instances of both IriBaseDriver and CIriNode can be easly generated with the 
- * iri_ros_scripts package. Similarly, data can be sent and read through ROS topics
- * by using those scripts. The scripts can be downloaded from the iri_stack SVN.
+ * Instances of both IriBaseDriver and IriBaseNodeDriver can be easly generated 
+ * with the  iri_ros_scripts package. Similarly, data can be sent and read 
+ * through ROS topics by using those scripts. The scripts can be downloaded 
+ * from the iri_stack SVN.
  */
 class IriBaseDriver : public driver_base::Driver
 {

include/iri_base_driver/iri_base_driver_node.h

@@ -36,30 +36,30 @@
  *
  * This class inherits from the ROS class driver_base::DriverNode<TemplateDriver> 
  * to provide an execution thread to the driver object. The TemplateDriver object
- * must be an implementation of the CIriDriver class. The inherit template design
- * form allows complete access to the driver object while manteining flexibility
- * to instantiate any object inherit from CIriDriver.
+ * must be an implementation of the IriBaseDriver class. The inherit template
+ * design form allows complete access to the driver object while manteining 
+ * flexibility to instantiate any object inherit from IriBaseDriver.
  *
- * A shared library is generated together with CIriDriver class to force 
+ * A shared library is generated together with IriBaseDriver class to force 
  * implementation of virtual methods to final user. Functions from ROS driver 
  * base class to perform tests, add diagnostics or hooks, are mainteined to 
- * implement common purpose behaviours and forwarded to the final user node class
- * for specification.
+ * implement common purpose behaviours and forwarded to the final user node 
+ * class for specification.
  *
  * Threads are implemented using iri_utils software utilities. The mainThread() 
  * function loops in a defined loop_rate_. In each iteration, the abstract 
  * mainNodeThread() function defined in the inherit node class is called.
  *
- * Similarly, functions such as addDiagnostics() or addRunningTests() are prepared
- * for detailing common features for all driver nodes while executing specific 
- * commands for each specification by calling the respective functions 
+ * Similarly, functions such as addDiagnostics() or addRunningTests() are 
+ * prepared for detailing common features for all driver nodes while executing  
+ * specific commands for each specification by calling the respective functions 
  * addNodeDiagnostics() and addNodeRunningTests() from the inherit node
  * implementation.
  *
- * Instances of both CIriDriver and IriBaseNodeDriver can be easly generated with the 
- * iri_ros_scripts package. Similarly, data can be sent and read through ROS 
- * topics by using those scripts. The scripts can be downloaded from the 
- * iri_stack SVN.
+ * Instances of both IriBaseDriver and IriBaseNodeDriver can be easly generated 
+ * with the  iri_ros_scripts package. Similarly, data can be sent and read 
+ * through ROS  topics by using those scripts. The scripts can be downloaded 
+ * from the iri_stack SVN.
  */
 template <class Driver>
 class IriBaseNodeDriver : public driver_base::DriverNode<Driver>
@@ -70,17 +70,17 @@ class IriBaseNodeDriver : public driver_base::DriverNode<Driver>
     *
     * This reference to the unique thread handler is initialized when an object 
     * of this class is first created. It is used to create and handle all the
-    * IriBaseNodeDriver threads. The object pointed by this reference is shared by all
-    * objects in any application.
+    * IriBaseNodeDriver threads. The object pointed by this reference is shared 
+    * by all objects in any application.
     */
     CThreadServer *thread_server_;
 
    /**
     * \brief identifier of the node main thread
     *
-    * This string has the identifier of the main IriBaseNodeDriver thread. This string
-    * is initialized at contruction time. This thread is only used internally to
-    * the class, so it is not possible to get its identifier out.
+    * This string has the identifier of the main IriBaseNodeDriver thread. This 
+    * string is initialized at contruction time. This thread is only used 
+    * internally to the class, so it is not possible to get its identifier out.
     */
     std::string main_thread_id_;
 
@@ -220,7 +220,7 @@ class IriBaseNodeDriver : public driver_base::DriverNode<Driver>
     * 
     * Loop frequency can be tuned my modifying loop_rate_ attribute.
     * 
-    * \param param is a pointer to a CIriDriver object class. It is used to 
+    * \param param is a pointer to a IriBaseDriver object class. It is used to 
     *              access to the object attributes and methods.
     */
     static void *mainThread(void *param);