Hi,
I'm trying to write a node that subscribes to the "/scan" topic, which is published by sicktoolbox_wrapper. I tried to modify some of the code given in the "Writing a Simple Publisher/Subscriber" tutorial:

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sensor_msgs/LaserScan.h>

void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg)

{
ROS_INFO("Received [%s]", scan_msg);
}

int main(int argc, char** argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber scan_sub = n.subscribe("scan", 100, scanCallback);
ros::spin();
}

The part where I think I'm getting tripped up is line 8 (the ROS_INFO command) -- how do I handle the unique data type LaserScan that sicktoolbox_wrapper uses to publish the scan data? I want to print the range values out, preferably as one long string -- what is the best way to convert the LaserScan type data into a string (or array)?

Thanks a lot --
Rishi

Rishi Bedi
rbedi100@gmail.com