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Mapping with Sonar Data? - ROS Answers

Alright, I'm editing my answer too.

Use:

ros::Publisher pub_scan;
pub_scan = nh.advertise<sensor_msgs::LaserScan> ("/scan", 100);

And related to this error: array bound is not an integer constant before ‘]’ token, The size of an array must be a constant known at compile-time:

Use:

#define NUM_READINGS 20