I want to control it by python by receiving the distance value and degree value from the client. However, no value appears when the node is operated.Help me, please.

include "ros/ros.h"

include "sensor_msgs/LaserScan.h"

include "rplidar.h"

include <vector>

include "hal/types.h"

include "rplidar_protocol.h"

include "rplidar_cmd.h"

include "rplidar_driver.h"

class SubscribeAndPublish {

public: SubscribeAndPublish() { //#퍼블리쉬 할 토픽 선언 pub_ = n_.advertise<sensor_msgs::laserscan>("/scan_1",1);

    //#서브스크라이 할 토픽 선언
    sub_ = n_.subscribe("/scan",1, &SubscribeAndPublish::scanCallback, this);
}

define RAD2DEG(x) ((x)*180./M_PI)

void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan) { sensor_msgs::LaserScan output;
int count = scan->scan_time / scan->time_increment;

for(int i = 0; i < count; i++) {
    float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);
    ROS_INFO(": [%f, %f]", degree, scan->ranges[i]);
}
pub_.publish(output);

}

private: ros::NodeHandle n_; ros::Publisher pub_; ros::Subscriber sub_; };

int main(int argc, char **argv) { ros::init(argc, argv, "rplidar_ros_Client");

SubscribeAndPublish SAPObject;

ros::spin();

return 0;

}

Code subscribed by client node.I want to control the distance value and degree value from this code to Python. It's the code I wrote.

! /usr/bin/env python

import rospy from sensor_msgs.msg import LaserScan import rplidar import vector import time from math import pi import numpy as np def rad2deg(x): return x*180/pi

def callback(msg):

angle_min = msg.angle_min
angle_max = msg.angle_max

angle_icrement = msg.angle_increment
time_increment = msg.time_increment
time_increment_plus = time_increment + np.exp(-60)
float(time_increment_plus)
scan_time = msg.scan_time
range_min = msg.range_min
range_max = msg.range_max
ranges = msg.ranges
count = scan_time/ time_increment_plus
count = int(count)
degree_list=[]
for i in range (count):
    if i < count:       
        for a in range (10000):
            degree = rad2deg(angle_min + angle_icrement)
            degree_list.append(degree)
            print("degree : %f, distance : %f"%(degree_list[i] , ranges[i]))

def main(): rospy.init_node('distance_angle') rospy.Subscriber("/scan_1",LaserScan,callback) rospy.spin() return 0

if __name__ == '__main__': main()