add flag for combined_img; enable send sync cloud slam

include/cloud_reprojection_ros_node.hpp

@@ -63,6 +63,7 @@ private:
     std::string reprojected_image_topic_;
     std::string combined_compressed_topic_;
     int combined_jpeg_quality_;
+    bool publish_combined_compressed_;
 
     message_filters::Subscriber<PointCloud2> cloud_sub_;
     message_filters::Subscriber<Odometry> odom_sub_;
@@ -74,17 +75,19 @@ private:
     std::shared_ptr<Sync> sync_;
 
     std::string sync_cloud_topic_;
+    std::string sync_cloud_slam_topic_;
     std::string sync_odom_topic_;
     std::string sync_wiwc_topic_;
     std::string sync_image_topic_;
 
     rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_pub_;
+    rclcpp::Publisher<PointCloud2>::SharedPtr sync_cloud_slam_pub_;
     rclcpp::Publisher<Odometry>::SharedPtr sync_odom_pub_;
     rclcpp::Publisher<Odometry>::SharedPtr sync_wiwc_pub_;
     rclcpp::Publisher<CompressedImage>::SharedPtr sync_image_pub_;
 
     image_transport::Publisher reprojected_image_pub_;
-    rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_;
+    rclcpp::Publisher<CompressedImage>::SharedPtr combined_pub_;  // optional if publish_combined_compressed_
 
     std::unique_ptr<CloudReprojector> reprojector_;
 
@@ -111,8 +114,10 @@ private:
     std::string reprojected_image_topic_;
     std::string combined_compressed_topic_;
     int combined_jpeg_quality_;
+    bool publish_combined_compressed_;
 
     std::string sync_cloud_topic_;
+    std::string sync_cloud_slam_topic_;
     std::string sync_odom_topic_;
     std::string sync_wiwc_topic_;
     std::string sync_image_topic_;
@@ -128,6 +133,7 @@ private:
     std::shared_ptr<Sync> sync_;
 
     ros::Publisher sync_cloud_pub_;
+    ros::Publisher sync_cloud_slam_pub_;
     ros::Publisher sync_odom_pub_;
     ros::Publisher sync_wiwc_pub_;
     ros::Publisher sync_image_pub_;  // CompressedImage