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Add NodeletLazy abstract class for lazy transport #45
This class is to crete nodelet for 'lazy' transport.
Lazy transport is an essential feature for perception nodelets that handle image and point cloud, because
FYI, the similar nodelet abstract class is used in ros-perception/opencv_apps package. https://github.com/ros-perception/opencv_apps/blob/indigo/include/opencv_apps/nodelet.h