Updated the documentation.

See merge request !3

Used a PointCloud2 instead of a scan.

See merge request !2

Added a second point cloud to do clearing in free space.
Created some functions to make the code easier to maintain.
Used the angle filter configuration file to know the dark areas of the sensor.

Changed the macro used to create new plugins.

See merge request !1

Used the nodelet_spin() function in the nodelet.

Solved a bug with the real sensor data: the data was captured in the oposite dierction than in simulation and it made the output scan to rotate.
Taken into account that a single pointcloud could represent more or less than 360 degrees.

Added checks on the number of subscribers to publish or not.

Improved the launch file of the node.

Cleaned up the code.
First operational version.