Changes to the iri_base_driver package for correct compilation under catkin. 

Solved some problems in the CMakeLists.txt file in the iri_base_driver package.

The main node thread sleep took effect only when the driver was running. In case the initialization failed, the node wastes 100% of the CPU.

  - 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.

  - removing ROS_NOBUILD from core pkgs

  - adding ROS_NOBUILD file to core packages

 - adding preCloseHook function, still under development

- define attributes of abstract class as protected for inheritance prevention

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

2-adding CMutexException control in segway_rmp200

    std::cout << "Node destructor" << std::endl;
    std::cout << "try_enter=" << this->driver_.try_enter() << std::endl;

moving iri_core_branch from branches to trunk

added namespace iri_driver_base

ready to move out from branches to trunk!

Updating iri_base_driver