Hello,
I recently found myself in need of some code for converting PointCloud2 
to LaserScan for my Velodyne clouds. Before migrating from fuerte to 
indigo, I have been using the pointcloud_to_laserscan package from 
turtlebot but I could not find any equivalent for Indigo. Therefore I 
ended up copying node's files from the turtlebot git fuerte tag, 
catkinizing the package and converting it to a standard node (instead of 
a nodelet). The results of that can be seen at Github repository 
https://github.com/piappl/cloud_to_scan.

Now I've got the idea that this kind of node could be useful for some 
other people and could be released as a standalone package. Should you 
decide that this is a good idea, I would gladly maintain this package 
and clean the code/add some features.

Kind regards,
Jan Czarnowski
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