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You should use LaserScan message, imo, and take care of the spinning logic in your laser scan publisher.

Here are some guidelines and examples:

• http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors
  • laser_scan_publisher_tutorial
• https://github.com/rohbotics/xv_11_laser_driver
• https://github.com/ros-drivers/hokuyo_node

Keep in mind that you'll need some way of keeping track of your motor's / LiDAR's orientation. Some sort of encoder.

You should use LaserScan message, messages, imo, and take care of the spinning logic in your laser scan publisher.

Here are some guidelines and examples:

• http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors
  • laser_scan_publisher_tutorial
• https://github.com/rohbotics/xv_11_laser_driver
• https://github.com/ros-drivers/hokuyo_node

Keep in mind that you'll need some way of keeping track of your motor's / LiDAR's orientation. Some sort of encoder.

You should use LaserScan messages, imo, and take care of the spinning logic in your laser scan publisher.publisher. Each LaserScan messsage's ranges field will be populated with, e.g., 180 degrees worth of LiDAR-Lite measurements.

Here are some guidelines and examples:

• http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors
  • laser_scan_publisher_tutorial
• https://github.com/rohbotics/xv_11_laser_driver
• https://github.com/ros-drivers/hokuyo_node

Keep in mind that you'll need some way of keeping track of your motor's / LiDAR's orientation. Some sort of encoder.

You should use LaserScan messages, imo, and take care of the spinning logic in your laser scan publisher. Each LaserScan messsage's ranges field will be populated with, e.g., 180 degrees worth of LiDAR-Lite measurements.

Here are some guidelines and examples:

• http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors
  • laser_scan_publisher_tutorial
• https://github.com/rohbotics/xv_11_laser_driver
• https://github.com/ros-drivers/hokuyo_node

Keep in mind that you'll need some way of keeping track of your motor's / LiDAR's orientation. Some sort of encoder.encoder. (Unless you're using a stepper motor.)