Moved the header files to the iri_ros_tools folder inside the include folder.

Removed the update function from the watchdog class.

CMakeLists.txt

@@ -77,9 +77,8 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-#  LIBRARIES ${PROJECT_NAME}
+  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS roscpp 
-#  DEPENDS system_lib
 )
 
 ###########
@@ -104,9 +103,6 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
 # add_dependencies(iri_ros_tool_node iri_ros_tool_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(iri_ros_tool_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -130,7 +126,7 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
 # )
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
+# install(DIRECTORY include
 #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE

include/timeout.h → include/iri_ros_tools/timeout.h

@@ -13,7 +13,7 @@ class CROSTimeout
     pthread_mutex_t access_;
   public:
     CROSTimeout();
-    void start(ros::Duration &time);
+    void start(const ros::Duration &time);
     void stop(void);
     bool timed_out(void);
     ~CROSTimeout();

include/watchdog.h → include/iri_ros_tools/watchdog.h

 #ifndef _WATCHDOG_H
-#define _WATCHDOF_H
+#define _WATCHDOG_H
 
 #include <ros/ros.h>
 
@@ -11,7 +11,6 @@ class CROSWatchdog
   public:
     CROSWatchdog();
     void reset(ros::Duration time);
-    void update(void);
     bool is_active(void);
     ~CROSWatchdog();
 };

src/timeout.cpp

-#include "timeout.h"
+#include "iri_ros_tools/timeout.h"
 
 CROSTimeout::CROSTimeout()
 {
@@ -9,7 +9,7 @@ CROSTimeout::CROSTimeout()
   this->active=false;
 }
 
-void CROSTimeout::start(ros::Duration &time)
+void CROSTimeout::start(const ros::Duration &time)
 {
   pthread_mutex_lock(&this->access_);
   this->time_period = time;

src/watchdog.cpp

-#include "watchdog.h"
+#include "iri_ros_tools/watchdog.h"
 
 CROSWatchdog::CROSWatchdog()
 {
@@ -13,7 +13,7 @@ void CROSWatchdog::reset(ros::Duration time)
   pthread_mutex_unlock(&this->access_);
 }
 
-void CROSWatchdog::update(void)
+bool CROSWatchdog::is_active(void)
 {
   static ros::Time start_time=ros::Time::now();
   ros::Time current_time=ros::Time::now();
@@ -21,12 +21,6 @@ void CROSWatchdog::update(void)
   pthread_mutex_lock(&this->access_);
   this->max_time-=(current_time-start_time);
   start_time=current_time;
-  pthread_mutex_unlock(&this->access_);
-}
-
-bool CROSWatchdog::is_active(void)
-{
-  pthread_mutex_lock(&this->access_);
   if(this->max_time.toSec()<=0.0)
   {
     pthread_mutex_unlock(&this->access_);