only shutdown all layers if exception was caught
License and more readable version of homing
Merge branch 'indigo_dev' of https://github.com/ipa-mdl/ros_canopen into indigo_dev
Changes the init procedure, needs further clarifications
Merge branch 'indigo_dev' of https://github.com/thiagodefreitas/ros_canopen into indigo_dev
working on cob4-2