points processing inside callback function in approximate_ndt_mapping node

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I created multiple submaps using "approximate_ndt_mapping" node in the "lidar_localizer" package of the AUTOWARE stack. On viewing the code, I noticed that output PCD is being processed and exported from within the callback function. From what I have learnt, this isn't a good approach. Is it? Correct me if I am wrong.

I witnessed that while saving the PCD files in ASCII format, with a submap_size of 100m, the Output PCD size was around 80MB, plus it took around 6 seconds to output the file. Whereas in case of Binary PCD, delay was in milliseconds with size around 30MB.

I used Autoware 1.12, ROS kinetic on UBUNTU 16.04.

approximate_ndt_mapping node: LINK