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I am no 100% sure this could be the source of your problem, but on the broadcaster, after you call

r.sleep()

You should call too

ros::spinOnce();

So ROS can do its magic.

I am no 100% sure this could be the source of your problem, but on the broadcaster, after you call

r.sleep()

You should call too

ros::spinOnce();

So ROS can do its magic.

Anyway, if what you want is to translate a laser scan into a point cloud, don't re-invent the wheel, just take a look at laser_geometry package.

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