PointCloudConcatenateDataSynchronizerComponent::publish has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PointCloudConcatenateDataSynchronizerComponent::publish has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

RingOutlierFilterComponent::faster_filter already has high cyclomatic complexity, and now it increases in Lines of Code from 123 to 129. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.