subscribe NAO laser head data

edit

I am using NAO "Osiris", NAO with laser on the head. I want to get the laser data so I can use SLAM with gmapping, etc.

How to get the laser data ?

Thanks

Update : I already solved that. I decided to not use directly but from the NaoQi SDK. But as mentioned in the answer, it is very slow.

If someone need the code, I put it here :

Hello,

I am using NAO robot right now. And I need to get the laser data, but the current NAO stack doesn't provide that. The NAO that I use is NAO with laser head. The laser is Hokuyo URG-04LX.

I want to create node which publish LaserScan topic that I get from NaoQi SDK. From the NaoQi, I can get this information : - Min/Max Degree - Min/Max Distance - Array of Distance (size about : +/- 700)

Can I use that information to create the node that publish LaserScan topic ? If yes, can someone provide me the example of Hokuyo URG-04LX laser header, angle_increment, etc ?

If it is possible, I also want the example from the Hokuyo URG-04LX in the *.bag file.

Thank you :)

Update : thanks to the comment, I already can get the information via NaoQi SDK.

I put my code here, in case someone want to use it.

https://gist.github.com/rexcoder21/5957465