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There are a lot of comments about the small amount of memory available in the arduino products. I still used the MEGA and decided to convert the Arduino program to a publisher that sends the laser data one measurement at a time via rosserial followed by an end of data code. Then when the end of data signal is reached the .cpp code on the PC converts all the previously recieved data to a proper Laser scan data format and publishes that data to the robot. I was able to get ~45 data points measured using a pulsed light sensor with a rotating motor and an encoder providing the angle information pushed up to the PC @ 57600 data rate. With this setup I get a scan about every 2 seconds. The scan rate is limited by the Arduino data transfer rate.