This block samples the sensor signal of a laser scanner at its inputs and packs it into a ROS message of type sensor_msgs::LaserScan. Each time the block is run by its time domain, this message is published under a given topic name.

  ros::NodeHandle rosNodeHandler;                                     // define a handler for ROS nodes
  RosPublisherDoubleArray pubArray(rosNodeHandler, "myNode/myTopic"); // create publisher block

The template parameter of the block determines the size of the range and intensity vectors.