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.

  // define a handler for ROS nodes
  ros::NodeHandle rosNodeHandler;                                    
  // create publisher block, laserscanner range has a size of 150 values
  RosPublisherLaserScan<Matrix<150, 1, double>, Matrix<150, 1, double >> laserScan(rosNodeHandler, "myNode/myTopic", 100);

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