1, eliminate unnessary apis ,keep its comments.
2, analyse unwanted functions. only use ROS API we want.
3, replace ros included headers with hiva headers.
begin code works...
4, replace roscomm with hivacomm logic begin.
5, extract tcpros logic to libtcpros.so implementation logic.
6, implement transceiver interfaces ... implement dispatcher interfaces ... implement receiver interfaces ...
7, implement node_manager logic...
8, implement topic_manager logic...
9, check function integraty tools..
10, complete the unit test framework.