Can't publish laser data

Hi everyone!

I'm trying to create a plugin driver for Player to do GridSLAM. I haven't
got experience in writing drivers so i followed some tutorials. 

I started by trying to create a simple exempledriver which requires to
lasers and provides a 3rd laser with the ranges of the first one in the left
side and the ranges of the second on the right side (just a "hello world"
kind of thing)

I think my code is right but i can't seem to publish the data to use in a
client program.

This is the part of the code where i think is the problem:
 
===============================================================
for (unsigned int i=0; i < data.ranges_count/2; i++)
{
   
        data.intensity[i] = this->Lintensity0[i];
        data.ranges[i] = this->Lranges0[i];
	//debug prints
	printf(" r[%d]=%1.2f ",i,data.ranges[i]);
}
printf("\n");
for (unsigned int i=data.ranges_count/2; i<data.ranges_count; i++)
{
        data.intensity[i] = this->Lintensity1[i];
        data.ranges[i] = Lranges1[i];
	//debug prints
	printf(" r[%d]=%4.2f ",i,data.ranges[i]);
    }

  
// Increment outgoing scan ID
data.id = this->scan_id++;

// Make data available to other devices
 this->Publish(this->laser2ID, NULL, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, (void*)&data, 0, &time);
==================================================================

My client program just calls the laser and prints its number of ranges and
range-values. 

But this is the output i'm getting:
==============================================
calling connect
done
GetCount=5
laser[0]7.58714e+31
laser[1]6.86636e-44
laser[2]0
laser[3]0
laser[4]0

GetCount=5
laser[0]7.58714e+31
laser[1]6.86636e-44
laser[2]0
laser[3]0
laser[4]0

GetCount=5
laser[0]7.58714e+31
laser[1]6.86636e-44
laser[2]0
laser[3]0
laser[4]0

GetCount=5
laser[0]7.58714e+31
laser[1]6.86636e-44
laser[2]0
laser[3]0
laser[4]0

GetCount=0
GetCount=0
GetCount=0
GetCount=0
...
=====================================

Anyone can tell me what I'm doing wrong??

Thanks in advance,

André Neves
DEEC - FCTUC
Coimbra, Portugal

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