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Hey,

Your work here really helped me out, thanks!

One thing I found was that the hasValidXYZ function needed to be altered such that it becomes:

template <typename PointType>
inline bool hasValidXYZ(const PointType& p){
      return std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z);
};

I have no idea why (I'm a ROS novice), but changing

template "typename PointType"

to

template <typename PointType>

and adding the trailing semi-colon sorted out the majority of my problems, and things compiled cleanly.

Thanks again,

Cameron