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I had a similar problem with with LMS111. I discovered that the publish rate on the laser was simply too high. To solve the problem, I loaded the manufacturer's software (a Windows program) and turned down the frequency of the laser. I believe that I dropped it from its default 50Hz to 25Hz. It has worked without fail since then.

To address the disconnection problem, you could add a check to queryStatus() every so often, and if no messages are received, you could disconnect() and then login(). I haven't needed this functionality, but it's just my thought on the matter.

Also, it is not uncommon for the laser to take ~30 seconds to begin publishing to the ROS graph properly. While this only happens once in a while, don't panic if you see it.

~ Brian