[merge] Merge segwayrmp400-odom branch into trunk

 - Code brings support to segwayrmp400 odometry based on IRI odom node.
 - Some code might not belongs to this branch exactly. That was an error.

include/iri_base_driver/iri_base_driver.h

@@ -61,10 +61,11 @@ class IriBaseDriver : public driver_base::Driver
     std::string driver_id_;
 
    /**
-    * \brief driver unique identifier
+    * \brief driver mutex
     *
-    * This value is used to identify each driver. Must be set before changing
-    * the driver_base::state=run. Use the abstract function setDriverId().
+    * This variable is used to block access to the driver resource. Public
+    * methods such as lock, unlock and try_enter provide an interface to
+    * avoid multiple concurrent access.
     */
     CMutex access_;