Revision history [back]

I think what @bvbdort is trying to say is all you need to do is tell the lms200 node to publish on the "Scan" topic, instead of publishing on the "lms200" topic. Im a bit confused as to what you are trying to do, since the message you pasted in your question is already in the form of sensor_msgs::LaserScan. If you type rostopic info /lms200 after your lms200 node is running, it will tell you the message type that topic is sending. Are you trying to right a custom driver of some sort?

Not sure why you would have /lms200 as the name of your topic in the first place, if you look here at the lms200 rosnode driver, it is already publishing on the /scan topic, sending messages in the LaserScan message format as you showed above.