message: changed assembling cloud condition from nb of clouds to sweep time
diff: @@ -67,7 +67,8 @@ public:
  warningThread_(0),
  callbackCalled_(false),
  exactSync_(0),
  - maxClouds_(1),
  + maxClouds_(0),
  + assemblingTime_(0),
  skipClouds_(0),
  cloudsSkipped_(0),
  waitForTransformDuration_(0.1),
  @@ -100,12 +101,13 @@ private:
  pnh.param("queue_size", queueSize, queueSize);
  pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
  pnh.param("max_clouds", maxClouds_, maxClouds_);
  + pnh.param("assembling_time", assemblingTime_, assemblingTime_);
  pnh.param("skip_clouds", skipClouds_, skipClouds_);
  pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
  pnh.param("range_min", rangeMin_, rangeMin_);
  pnh.param("range_max", rangeMax_, rangeMax_);
  pnh.param("voxel_size", voxelSize_, voxelSize_);
  - ROS_ASSERT(maxClouds_>0);
  + ROS_ASSERT(maxClouds_>=0);
  cloudsSkipped_ = skipClouds_;
  @@ -166,7 +168,8 @@ private:
  *cpy = *cloudMsg;
  clouds_.push_back(cpy);
  - if((int)clouds_.size() >= maxClouds_)
  + if( (int)clouds_.size() >= maxClouds_ && maxClouds_ != 0
  + || (double)(*cpy).header.stamp.toSec() >= (double)clouds_[0]->header.stamp.toSec() + assemblingTime_ )
  {
  pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
  pcl_conversions::toPCL(*clouds_.back(), *assembled);
  @@ -270,6 +273,7 @@ private:
  int maxClouds_;
  int skipClouds_;
  int cloudsSkipped_;
  + double assemblingTime_;
  double waitForTransformDuration_;
  double rangeMin_;
  double rangeMax_;
  