use buffered target position
period calculation was wrong
removed launch prefix
get drive mode via PDO
refactored CAN interfaces
switched to CommInterface
proper virtual inheritance for asio base
added doesLoopBack to driver interface
switched to CommInterface in ROS layer
readded DispatchedInterface, added SocketCANInterface
merged ipa_socketcan_driver into ipa_can_interface
updated test programms
moved prepare script
removed hard-coded values that depend on node-id
Using String based on std::vector<char> instead of std::string

- avoid reference counting
- enforce char
added flag for constant data
moved threaded interface to asio_base.h
improved get_cached behaviour
HoldData::data returns reference again
added layer interface