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Thank you for this answer. I have modified my script regarding your advice, I still have troubles on some points :

• I can't resize ranges and intensities arrays, both scan.ranges.resize(5) and scan->ranges.resize(5) are no accepted when compiling (not a type from sensor_msgs::LaserScan, Arduino and ROS classes are not exactly the same i guess)

• After integrating the loop for populate ranges and intensities arrays, I now lost synchronisation between ROS node and Arduino :

  [ERROR] [WallTime: 1493197519.087966] Lost sync with device, restarting...

  I don't know how to deal with this problem. From this rosanswer, the problem seems to be that i don't call spinOnce() frequently enough. But i don't understand why the populating loop slow down the script at this point.

Here is my new Arduino script :

  //populate the sonar message
  scan.header.frame_id = "/ultrasound";
  scan.angle_increment = 0.26;  // rad
  scan.angle_min = -0.52;  //
  scan.angle_max = 0.52;
  scan.range_min = 0.0;
  scan.range_max = 450.0;
  //scan.ranges.resize(5);
  //scan->ranges.resize(5);
  time_current_scan =  millis();
  scan.scan_time = time_current_scan - time_previous_scan;
  time_previous_scan = millis();
  for (i=0;i<=5;i++){
    scan.ranges[i] = val_ranges[i];
    scan.intensities[i] = val_ranges[i];
  }

  // publish
  pu.publish(&scan );

Suggestions are welcomed :)

Regards

Matthieu

Thank you for this answer. I have modified my script regarding your advice, I still have troubles on some points :

• I can't resize ranges and intensities arrays, both scan.ranges.resize(5) and scan->ranges.resize(5) are no accepted when compiling (not a type from sensor_msgs::LaserScan, Arduino and ROS classes are not exactly the same i guess)

• After integrating the loop for populate ranges and intensities arrays, I now lost synchronisation between ROS node and Arduino :

  [ERROR] [WallTime: 1493197519.087966] Lost sync with device, restarting...

  I don't know how to deal with this problem. From this rosanswer, the problem seems to be that i don't call spinOnce() frequently enough. But i don't understand why the populating loop slow down the script at this point.

Here is my new Arduino script :

  //populate the sonar message
  scan.header.frame_id = "/ultrasound";
  scan.angle_increment = 0.26;  // rad
  scan.angle_min = -0.52;  //
  scan.angle_max = 0.52;
  scan.range_min = 0.0;
  scan.range_max = 450.0;
  //scan.ranges.resize(5);
  //scan->ranges.resize(5);
  time_current_scan =  millis();
  scan.scan_time = time_current_scan - time_previous_scan;
  time_previous_scan = millis();
  for (i=0;i<=5;i++){
(i=0;i<=4;i++){
    scan.ranges[i] = val_ranges[i];
    scan.intensities[i] = val_ranges[i];
  }

  // publish
  pu.publish(&scan );

Suggestions are welcomed :)

Regards

Matthieu