Changed around the way ROS interacts with the program. The CloudGrabber class now has it's own spin() call inside to keep the thread going, so no longer is a ros::spin() call needed inside the file where the class is instantiated. Also, we removed the separability of the publishing and data grabbing/visualization functionality. Now the user just calls CloudGrabber::start() and this will call startFeed() and startPublishing(). The program is now set up to publish at user defined intervals, instead of just when they push a button. The publishing can be toggled on or off by pressing the 'p' button with focus on the visualization window.