Extensively updated inline code documentation. Explained exactly what the CloudGrabber class needs the user to do before it can gather and publish data from a kinect camera. Changed the ros::Node variable from having to be declared by the user and passed into the class to being a member field that the user can get() if they need it. It is currently only publishing data when the user presses the 'p' key, next step is to change this to having it constantly output data at a rate defined by the user. Program is working quite well to be honest