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I solved the error by installing the cob_sick_s300 directly into the /opt/ros/kinetic/share by,

sudo apt-get install ros-kinetic-cob-sick-s300

After install this you can call

source /opt/ros/kinetic/setup.bash

now u can check the file path of your cob_sick_s300 by

rospack list

u can see in the list of rospack

cob_sick_s300 /opt/ros/kinetic/share/cob_sick_s300

if all the above things worked as like mentioned above, connect your LIDAR open another terminal and run

roscore

then open ur current terminal and run

rosrun cob_sick_s300 cob_sick_s300

then it should work. thank u! special thanks to @jayess for the fast response :).