struct laser_t
{
	int64_t  utime;

	// range data (meters)
	int32_t  nranges;
	float    ranges[nranges];

	// intensity data, in sensor-specific units
	int32_t  nintensities;
	float    intensities[nintensities];

	// the angle (in radians) to the first point in nranges,
	// relative to the laser scanner's own coordinate frame.
	float    rad0; 

	// the number of radians between each successive sample
	float    radstep;
}