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FIX: change class members and functions from private to protected

During migration to kinetic some class members and functions moved from protected to private. This breaks the API. E.g, the loop_rate_ variable has to be set from derived classes. This can only be done by setting it to protected instead of private or either creating a SET function.

This branch moves back to protected those class members to keep compatibility.

Tested with Ubuntu 16.04 and ROS Kinetic.

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