enter code here

 #include <ros.h>
#include <Wire.h>
#define    LIDARLite_ADDRESS   0x62         
#define    RegisterMeasure     0x00         
#define    MeasureValue        0x04       
#define    RegisterHighLowB    0x8f         
#define USB_USBCON
#include <LIDARLite.h>
#include <I2C.h>
#include <sensor_msgs/Range.h>
#include <sensor_msgs/LaserScan.h>
LIDARLite myLidarLite;
ros::NodeHandle  nh;
sensor_msgs::LaserScan scan;
ros::Publisher pub_range( "lidar", &scan);
 float ranges[7];
char frameid[] = "/my_frame";
int lidarGetRange(void) 
{
 int val = -1;
   Wire.beginTransmission((int)LIDARLite_ADDRESS); 
 Wire.write((int)RegisterMeasure); 
 Wire.write((int)MeasureValue);   
 Wire.endTransmission(); 
 delay(20); 
 Wire.beginTransmission((int)LIDARLite_ADDRESS);
 Wire.write((int)RegisterHighLowB); 
 Wire.endTransmission(); 
  delay(20); 
  Wire.requestFrom((int)LIDARLite_ADDRESS, 2);
  if(2 <= Wire.available()) 
  {
   val = Wire.read(); 
   val = val << 8; 
   val |= Wire.read();
   }
     return val;
   }
  void setup()
  {
  Serial.begin(57600);
 nh.initNode();
 nh.advertise(pub_range);
 //delay(1000);
  myLidarLite.begin(0, true);
  myLidarLite.configure(0);
  scan.header.frame_id =  frameid;
   scan.angle_min= 0; 
  scan.angle_max= 3.14;
   scan.angle_increment =1; 
   scan.range_min = 0.03;  
   scan.range_max = 4000; 
          } 
  void loop()
    {
     for(int i = 0; i < 7; i++)
    {
      Serial.println(lidarGetRange());
      scan.ranges[i] =lidarGetRange();   
       pub_range.publish(&scan);
         }
        nh.spinOnce();
      }`enter code here`