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which is the scanner you are using? The output is usually ideally laserscan msg under /scan topic. If you get pointcloud msg you can do somethinglike this. This is example for using kinect as a fake laser scanner source.

 <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <remap from="image"     to="/camera/depth/depth_registered"/>
  <remap from="camera_info" to="/camera/depth/camera_info"/>
  <remap from="scan" to="/scan"/>
</node>

which is the scanner you are using? The output is usually ideally laserscan msg under /scan topic. If you get pointcloud msg you can do somethinglike something like this. This is example for using kinect as a fake laser scanner source.

 <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <remap from="image"     to="/camera/depth/depth_registered"/>
  <remap from="camera_info" to="/camera/depth/camera_info"/>
  <remap from="scan" to="/scan"/>
</node>