code: def laserScan2LaserData(scan):
      '''
      Translates from ROS LaserScan to JderobotTypes LaserData. 
  
      @param scan: ROS LaserScan to translate
  
      @type scan: LaserScan
  
      @return a LaserData translated from scan
  
      '''
      laser = LaserData()
      laser.values = scan.ranges
      ''' 
            ROS Angle Map      JdeRobot Angle Map
                  0                  PI/2
                  |                   |
                  |                   |
         PI/2 --------- -PI/2  PI --------- 0
                  |                   |
                  |                   |
      '''
      laser.minAngle = scan.angle_min  + PI/2
      laser.maxAngle = scan.angle_max  + PI/2
      laser.maxRange = scan.range_max
      laser.minRange = scan.range_min
      laser.timeStamp = scan.header.stamp.secs + (scan.header.stamp.nsecs *1e-9)
      return lasef laserScan2LaserData(scan):
      '''
      Translates from ROS LaserScan to JderobotTypes LaserData. 
  
      @param scan: ROS LaserScan to translate
  
      @type scan: LaserScan
  
      @return a LaserData translated from scan
  
      '''
      laser = LaserData()
      laser.values = scan.ranges
      ''' 
            ROS Angle Map      JdeRobot Angle Map
                  0                  PI/2
                  |                   |
                  |                   |
         PI/2 --------- -PI/2  PI --------- 0
                  |                   |
                  |                   |
      '''
      laser.minAngle = scan.angle_min  + PI/2
      laser.maxAngle = scan.angle_max  + PI/2
      laser.maxRange = scan.range_max
      laser.minRange = scan.range_min
      laser.timeStamp = scan.header.stamp.secs + (scan.header.stamp.nsecs *1e-9)
      return laser
docs: Translates from ROS LaserScan to JderobotTypes LaserData. 
  
      @param scan: ROS LaserScan to translate
  
      @type scan: LaserScan
  
      @return a LaserData translated from scan