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Any ideas towards how can I read the laser info to check if the robot has an obstacle in front of it or not? I tried with this

alonsoj1@aut-228:~$ rosmsg show sensor_msgs/LaserScan
Header header
  uint32 seq
  time stamp
  string frame_id
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

And I think the best way would be to establish a threshold for the range of 'intensities'. How can I stream the values of that parameter in a terminal to establish that range?