[ros-users] SICK LMS Subscriber Node

Rishi Bedi rbedi100 at gmail.com
Thu Jul 15 18:55:07 UTC 2010

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);

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 Bedi
rbedi100 at gmail.com
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