Added ROS publishing traits into the CloudGrabber class with the function CloudGrabber::startPublishing(). This will run in it's own loop for as long as ros::spin() is still running in main(). This abstracts the publishing of data away from the main file where we can concentrate on more important tasks. Currently it is only publishing string data to another program (test_sub) so the next thing we need to do is make it publish PCL::PointCloud2 data types, then we can really get started working with point cloud filtering and registering