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I'm glad people are working with these lasers. The SICK toolbox works well for the older lasers over serial connections, but we need to add another community package into laser_drivers for the 100, 500, and maybe even the TiM 300/500 series.

Since this will be a large effort, shortly after the Fuerte release, I'll post to ROS Users asking for a planning review for a common driver. Please bring your work and experience with these lasers to that review.

One concern I have is that your code is GPL based. It's much easier to work with a BSD base, especially for a driver, since it gives both us and our end users much less obligation if things need modified.