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Hi Everybody,<br><br>I am working in simulation, specifically I am simulating a diff robot in Gazebo, but now I need to use the laser_data of the robot. So actually I don't know how to subscribe to that topic, I mean I can not find information about how can I acquire that info. I know the laser take a number of samples that I guess you can set in the model, but the msg <a href="http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html">sensor_msgs/LaserScan</a> is an array that has all those points? Is available an standard code for subscribing this kind of msg. Because I looked into the amcl code, although it is very difficult for my C ++ level. <br>I have read the info about the <a href="http://ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html">sensor_msgs/LaserScan</a>, though it gives info about the angles, times, but I dont know how can I get each point return by the laser so later with the tf I can know where they are inside a map.<br>Any kind of help is useful. Thanks.<br><br>Nicolas<br><br> </body>
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