diff --git a/include/iri_base_driver/iri_base_driver.h b/include/iri_base_driver/iri_base_driver.h
index 137b8053093ba6b669915dbe5cc96f0ec6f73597..2250327bcd55317257344b77b92eea27a3bd3854 100644
--- a/include/iri_base_driver/iri_base_driver.h
+++ b/include/iri_base_driver/iri_base_driver.h
@@ -2,11 +2,11 @@
// Author Sergi Hernandez & Joan Perez
// All rights reserved.
//
-// This file is part of iri-ros-pkg
+// This file is part of iri-ros-pkg.
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
+// at your option any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -38,19 +38,19 @@ typedef enum {CLOSED=0,OPENED=1,RUNNING=2} state_t;
* 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
+ * 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
+ * user final driver implementation. Methods for managing 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 IriBaseNodeDriver can be easly generated
- * with the iri_ros_scripts package. Similarly, data can be sent and read
+ * 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.
+ * from the GitLab repository (See http://wiki.iri.upc.edu).
*/
class IriBaseDriver
{
@@ -58,9 +58,9 @@ class IriBaseDriver
state_t current_state_;
/**
- * \brief variable to handle the mutual exclusion mechanism
+ * \brief Variable to handle the mutual exclusion mechanism
*
- * this variable is automatically initialized when an object of this class
+ * This variable is automatically initialized when an object of this class
* or any inherited class is created and holds all the necessary information
* to handle any shared resource.
*
diff --git a/include/iri_base_driver/iri_base_driver_node.h b/include/iri_base_driver/iri_base_driver_node.h
index 00b21355a9e31577782c3ef6ee29cd9d615df54b..1baef5b345709cbdacc8c95cfa052d2b6c96f8d0 100644
--- a/include/iri_base_driver/iri_base_driver_node.h
+++ b/include/iri_base_driver/iri_base_driver_node.h
@@ -77,16 +77,15 @@ class AbstractDriverNode
* 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
- * addNodeDiagnostics() and addNodeRunningTests() from the inherit node
- * implementation.
+ * Similarly, functions such as addDiagnostics() are prepared for detailing
+ * common features for all driver nodes while executing specific commands for
+ * each specification by calling the respective function addNodeDiagnostics()
+ * from the inherit node implementation.
*
* 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.
+ * through ROS topics by using those scripts. The scripts can be downloaded
+ * from the IRI GitLab respository (See http://wiki.iri.upc.edu).
*/
template <class Driver>
class IriBaseNodeDriver : public AbstractDriverNode
@@ -124,7 +123,7 @@ class IriBaseNodeDriver : public AbstractDriverNode
* \brief main thread loop rate
*
* This value determines the loop frequency of the node main thread function
- * mainThread() in HZ. It is initialized at construction time. This variable
+ * mainThread() in Hz. It is initialized at construction time. This variable
* may be modified in the node implementation constructor if a desired
* frequency is required.
*/
@@ -228,7 +227,7 @@ class IriBaseNodeDriver : public AbstractDriverNode
* Abstrac function called by postOpenHook() that adds the specific driver
* node parameters to the dynamic reconfigure application.
*/
- virtual void postNodeOpenHook(void) = 0;
+ virtual void postNodeOpenHook(void);
/**
* \brief node implementation pre close hook
@@ -382,6 +381,12 @@ void IriBaseNodeDriver<Driver>::postOpenHook(void)
this->postNodeOpenHook();
}
+template <class Driver>
+void IriBaseNodeDriver<Driver>::postNodeOpenHook(void)
+{
+
+}
+
template <class Driver>
void IriBaseNodeDriver<Driver>::preCloseHook(void)
{
diff --git a/src/iri_base_driver.cpp b/src/iri_base_driver.cpp
index 99ff593e7966e256ecbe5a5c10067c3351a9ea59..54bc667ec3732e8e039033b7820d27f7ec2b48a5 100644
--- a/src/iri_base_driver.cpp
+++ b/src/iri_base_driver.cpp
@@ -166,7 +166,7 @@ std::string IriBaseDriver::getStateName(void)
switch(this->current_state_)
{
case iri_base_driver::CLOSED: return std::string("closed");
- case iri_base_driver::OPENED: return std::string("oepned");
+ case iri_base_driver::OPENED: return std::string("opened");
case iri_base_driver::RUNNING: return std::string("running");
}
}