Hi,
In my project i should do mapping and localization using only ultrasonic sensor and IMU. Most of mapping packages in ros use [laserscan message](http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/LaserScan.html), the ultrasonic sensor return a [range message](http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/Range.html).
I am using 10 HC-SR04 ultrasonic sensor.
ROS kinetic ubuntu 16.04.
MPU-6050.
How can i construct a laser scanner message using the different readings sonar sensor ???
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