get the average () msg from LIDAR Hokuyo and publisher it

edit

hi,

i'am quite new using ROS, and i trying to get and publish the average of 1000 msg received from the LIDAR. I'am working with python code, but i cant get anything out. i checked it in the terminal with rostopic list. if i have a problem or maybe iam getting an error with the code please help me and tell me what is the mistake with the code. till momment when i run it dont have error. maybe it has lack of information or add a new library.

Source code here:

#! /usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from sensor_msgs.msg import LaserScan # Mensaje que leeremos
import numpy as np


class nodo_control():
    max_medidas = 1000
    cont_medidas = 0
    medidas =list()


    def __init__(self):

        self.scan_Pub = rospy.Publisher('promedio_laser', LaserScan, queue_size=1)
        self.scan_Sub = rospy.Subscriber("/scan", LaserScan, self.laserCallback)    

    def laserCallback(self,msg):
        self.cont_medidas=self.cont_medidas +1
        self.medidas.append(msg.ranges)    



        if  self.cont_medidas >= self.max_medidas:
            arreglo_medidas= np.ndarray(self.medidas)
            promedio = arreglo_medidas.mean(1)  
            #publicar promedio
            msg.ranges=promedio
            self.scan_Pub.publish (promedio)
            self.cont_medidas=0
            self.medidas=list()      

if __name__ == '__main__':
   rospy.init_node("nodo_control")
   rospy.spin()


   try:
          nodo_control()
   except rospy.ROSInterruptException:
        pass

Edit: i appreciate your answered, it will help me to reorganize and modify my code. i forgot say that im quite new to python too, but i need to finish it in a record time. tnx again for your time. i'll verify all again y to tell you as soon as possible. greets.