Fully integrated with ROS now. The class CloudGrabber can now be created, and when CloudGrabber::startFeed() the class will start a data feed on its own thread, converting kinect data to PCD data and visualizaing it. The class  is now ready to add functions to publish the data so that other programs can subscribe to the data feed and do with it as they wish. Cod formatting and documentation has also been updated and improved